Table of Contents¶

Introduction
- Choosing a Ground Station
- Choosing an Autopilot
- All Supported Vehicle Types
  - Overview
  - Supported Vehicles
AutoPilot Hardware
- Open hardware
- Closed hardware
- Firmware Limitations
  - Firmware Limitations
- Discontinued boards
First Time Setup
- Install Ground Station Software
- Autopilot System Assembly
- Loading Firmware to boards with existing ArduPilot firmware
- Loading Firmware to boards without existing ArduPilot firmware
- Connect Mission Planner to AutoPilot
- Configuration
- Airframe Specific Setup Guides
  - Parrot Disco
  - MakeFlyEasy Believer
    - Parts List
First Flight
- Center of Gravity
- Starting up and calibrating Plane
- Pre-Arm Safety Checks
- Arming Plane
- Flight Modes
- Takeoff
- Tuning Quickstart
- Automatic Tuning
- Tuning in Detail
- Tuning Configuration Values for Common Airframes
- Measuring Vibration
- Transmitter based tuning
If A Problem Arises
- What to do if you have an issue
- H7 AutoPilot Will Not Initialize
Flight Features
- Automatic Takeoff
- Automatic Landing
- Inverted Flight
- Stall Prevention
- Geo-Fencing in Plane
  - Detailed Information
- Terrain Following
- Soaring
Advanced Configuration
- Advanced Failsafe
  - Background
  - Mission based
  - Enabling the AFS failsafe system
  - AFS Termination
  - Types of Failsafe Events
  - Manual Termination
  - Example AFS failsafe mission
  - Testing the AFS system in SITL
  - Additional tips for AFS failsafe users
  - Settings for Outback Challenge 2014
- Autopilot Output Mapping
  - The SERVOn_FUNCTION parameters
  - Configuration
  - GENERIC FUNCTIONS
  - PLANE FUNCTIONS (Also applies to QuadPlanes)
  - COPTER / QUADPLANE FUNCTIONS
  - ROVER FUNCTIONS
  - ANTENNA TRACKER FUNCTIONS
    - Tracker Yaw/Pitch
  - CAMERA/GIMBAL FUNCTIONS
  - INTERNAL COMBUSTION ENGINE FUNCTIONS
    - Ignition/Starter/Choke
  - NEOPIXEL LED STRINGS
  - ProfiLEDs
  - MISCELLANEOUS FUNCTIONS
  - GENERAL PURPOSE LUA SCRIPTING OUTPUTS
  - INTERNAL CONTROLLER ACCESS
  - DEFAULT VALUES
- Auxiliary Functions
  - Configuring which transmitter channel is used
  - Assigning the Feature
  - Supported Features
  - Description of Features
    - Mode Switches
  - Check the channel range
- Battery Voltage Compensation
  - Forward Motor Compensation
  - QuadPlane VTOL Motor Compensation
- Bootloader Update
  - Where can I download the latest bootloader?
  - Upgrading using Mission Planner
  - Upgrading using QGC
  - Upgrading with MAVProxy
  - Extra Information
- CAN Bus Setup
  - Overview
  - Configuration settings
  - CAN ESCs
- Compass Setup (Advanced)
  - Overview
  - Compass Settings
  - Automatic Offset Calibration
  - Compass error messages
  - Refining Calibration Parameters using a Flight Log
    - Refining Calibration Parameters using a Flight Log
    - Using MAVExplorer’s integrated Magfit utility
- Compass-less Operation
  - Align Yaw to GPS (Plane only)
  - GSF
    - Setup
    - Operation
    - Video
- Crash Detection
  - Detection Threshold
  - Enabling the Detection
- BLHeli ESCs
  - BLHeli pass-through setup and use:
  - Reversible DShot ESCs
  - BLHeli32 ESC Telemetry
    - BLHeli32 ESC Telemetry
- EKF (Extended Kalman Filter)
  - Should the EKF2 or EKF3 be used?
  - Choosing the EKF and number of cores
  - Affinity and Lane Switching
  - GPS / Non-GPS Transitions
  - Commonly modified parameters
- EKF Affinity & Lane Switching
  - Configuration Parameters
  - Test Results
    - AIRSPEED
    - BAROMETER
    - GPS
    - MAGNETOMETER
- Flight Time Recorder
  - Parameter Details
  - When will counters be reset?
- Flight Options
- Fly-By-Wire Low Altitude Limit
  - Use for R/C training
  - How to setup Alt Limit
  - Choosing the right altitude
  - Landing
- FPort Setup
  - Telemetry protocol
  - Connection Diagrams
  - ArduPilot Configuration
  - Enhanced Configurations
- GeoFencing Failsafe
  - Detailed Information
- GPIOs
  - GPIO “PIN” NUMBER
- GPS for Yaw (aka Moving Baseline)
  - Hardware Setup
  - Configuration
  - Testing
  - Video Demo
- GPS for Altitude
  - Setup for using a non Baro Source for Altitude Measurement
- GPS/Non-GPS Transitions
  - Setup
  - Testing
  - Logging
  - Future Improvements
- Ground Control Station Only Operation
  - Capability
  - Failsafes
  - Configuration
    - Plane and Rover
    - Copter
- IMU Temperature Calibration
  - Temperature Calibration Procedure
  - Monitoring the Calibration Process
  - Offline Calibration Tool
  - Factory Temperature Calibration
- Independent Watchdog
  - Determining that a Watchdog Reset Occurred
- In-Flight FTT and filter control
  - Setup
- Limiting Maximum Power Draw
  - Methods to Limit Maximum Power Draw
    - How to Set Max Watts
- Limit Cycle Prevention
- LUA Scripting
  - Getting Started
  - What Scripts Can Do
  - A Sample Script
  - Script Crashes and Errors
  - API Documentation
  - Examples
  - How to Add New Bindings
  - Include Lua scripts in firmware directly
  - Further Information
    - Bindings
- Magnetic Interference
  - Overview
  - Hardware changes to reduce magnetic interference on the compass
  - Maxwell’s Equations - The Magnetic Field on the Axis of a Current Loop
  - Natural and Artificial Magnetic Anomalies Warning
  - GPS for yaw
- MAVLink2 Packet Signing (Security)
  - Configuration
  - Use
- Notification Devices (LEDs,Buzzer,etc.)
  - LED and LED Display Configuration
    - OLED Displays
  - BUZZER
- Notch Filter Configuration
  - Setup
    - Pre-Flight Setup
  - Throttle-based Setup
  - RPM-based Setup
    - Checking Harmonic Notch Effectiveness
  - ESC-based Setup
    - Checking Harmonic Notch Effectiveness
    - Dynamic Harmonics
  - In-flight FFT Mode
  - Double-Notch
  - Traditional Helicopter Setup
  - Static Notch
- Object Avoidance
  - Avoidance Strategies
  - ADSB Avoidance
- Optical Flow Sensor
  - Testing the sensor
  - Calibrating the sensor
  - Range Sensor Check
  - Pre-Arm checks
  - First Flight
  - Second Flight
  - Setup for Regular Flight
    - For EKF2:
    - For EKF3:
  - Example Video (Copter-3.4)
- OSD Parameter Editor
  - Copter default screens:
  - Plane default screens:
  - Examples
- Parameter List (Full)
  - ArduPlane Parameters
    - FORMAT_VERSION: Eeprom format version number
    - SYSID_THISMAV: MAVLink system ID of this vehicle
    - SYSID_MYGCS: Ground station MAVLink system ID
    - AUTOTUNE_LEVEL: Autotune level
    - TELEM_DELAY: Telemetry startup delay
    - GCS_PID_MASK: GCS PID tuning mask
    - KFF_RDDRMIX: Rudder Mix
    - KFF_THR2PTCH: Throttle to Pitch Mix
    - STAB_PITCH_DOWN: Low throttle pitch down trim
    - GLIDE_SLOPE_MIN: Glide slope minimum
    - GLIDE_SLOPE_THR: Glide slope threshold
    - STICK_MIXING: Stick Mixing
    - TKOFF_THR_MINSPD: Takeoff throttle min speed
    - TKOFF_THR_MINACC: Takeoff throttle min acceleration
    - TKOFF_THR_DELAY: Takeoff throttle delay
    - TKOFF_TDRAG_ELEV: Takeoff tail dragger elevator
    - TKOFF_TDRAG_SPD1: Takeoff tail dragger speed1
    - TKOFF_ROTATE_SPD: Takeoff rotate speed
    - TKOFF_THR_SLEW: Takeoff throttle slew rate
    - TKOFF_PLIM_SEC: Takeoff pitch limit reduction
    - TKOFF_FLAP_PCNT: Takeoff flap percentage
    - LEVEL_ROLL_LIMIT: Level flight roll limit
    - USE_REV_THRUST: Bitmask for when to allow negative reverse thrust
    - ALT_OFFSET: Altitude offset
    - WP_RADIUS: Waypoint Radius
    - WP_MAX_RADIUS: Waypoint Maximum Radius
    - WP_LOITER_RAD: Waypoint Loiter Radius
    - RTL_RADIUS: RTL loiter radius
    - STALL_PREVENTION: Enable stall prevention
    - ARSPD_FBW_MIN: Minimum Airspeed
    - ARSPD_FBW_MAX: Maximum Airspeed
    - FBWB_ELEV_REV: Fly By Wire elevator reverse
    - TERRAIN_FOLLOW: Use terrain following
    - TERRAIN_LOOKAHD: Terrain lookahead
    - FBWB_CLIMB_RATE: Fly By Wire B altitude change rate
    - THR_MIN: Minimum Throttle
    - THR_MAX: Maximum Throttle
    - TKOFF_THR_MAX: Maximum Throttle for takeoff
    - THR_SLEWRATE: Throttle slew rate
    - FLAP_SLEWRATE: Flap slew rate
    - THR_SUPP_MAN: Throttle suppress manual passthru
    - THR_PASS_STAB: Throttle passthru in stabilize
    - THR_FAILSAFE: Throttle and RC Failsafe Enable
    - THR_FS_VALUE: Throttle Failsafe Value
    - TRIM_THROTTLE: Throttle cruise percentage
    - THROTTLE_NUDGE: Throttle nudge enable
    - FS_SHORT_ACTN: Short failsafe action
    - FS_SHORT_TIMEOUT: Short failsafe timeout
    - FS_LONG_ACTN: Long failsafe action
    - FS_LONG_TIMEOUT: Long failsafe timeout
    - FS_GCS_ENABL: GCS failsafe enable
    - FLTMODE_CH: Flightmode channel
    - FLTMODE1: FlightMode1
    - FLTMODE2: FlightMode2
    - FLTMODE3: FlightMode3
    - FLTMODE4: FlightMode4
    - FLTMODE5: FlightMode5
    - FLTMODE6: FlightMode6
    - INITIAL_MODE: Initial flight mode
    - LIM_ROLL_CD: Maximum Bank Angle
    - LIM_PITCH_MAX: Maximum Pitch Angle
    - LIM_PITCH_MIN: Minimum Pitch Angle
    - ACRO_ROLL_RATE: ACRO mode roll rate
    - ACRO_PITCH_RATE: ACRO mode pitch rate
    - ACRO_LOCKING: ACRO mode attitude locking
    - GROUND_STEER_ALT: Ground steer altitude
    - GROUND_STEER_DPS: Ground steer rate
    - MIXING_GAIN: Mixing Gain
    - RUDDER_ONLY: Rudder only aircraft
    - MIXING_OFFSET: Mixing Offset
    - DSPOILR_RUD_RATE: Differential spoilers rudder rate
    - SYS_NUM_RESETS: Num Resets
    - LOG_BITMASK: Log bitmask
    - TRIM_ARSPD_CM: Target airspeed
    - SCALING_SPEED: speed used for speed scaling calculations
    - MIN_GNDSPD_CM: Minimum ground speed
    - TRIM_PITCH_CD: Pitch angle offset
    - ALT_HOLD_RTL: RTL altitude
    - ALT_HOLD_FBWCM: Minimum altitude for FBWB mode
    - FLAP_1_PERCNT: Flap 1 percentage
    - FLAP_1_SPEED: Flap 1 speed
    - FLAP_2_PERCNT: Flap 2 percentage
    - FLAP_2_SPEED: Flap 2 speed
    - OVERRIDE_CHAN: IO override channel
    - RTL_AUTOLAND: RTL auto land
    - CRASH_ACC_THRESH: Crash Deceleration Threshold
    - CRASH_DETECT: Crash Detection
    - RNGFND_LANDING: Enable rangefinder for landing
    - SYSID_ENFORCE: GCS sysid enforcement
    - RUDD_DT_GAIN: rudder differential thrust gain
    - MANUAL_RCMASK: Manual R/C pass-through mask
    - HOME_RESET_ALT: Home reset altitude threshold
    - FLIGHT_OPTIONS: Flight mode options
    - TKOFF_ACCEL_CNT: Takeoff throttle acceleration count
    - DSPOILER_CROW_W1: Differential spoiler crow flaps outer weight
    - DSPOILER_CROW_W2: Differential spoiler crow flaps inner weight
    - TKOFF_TIMEOUT: Takeoff timeout
    - DSPOILER_OPTS: Differential spoiler and crow flaps options
    - DSPOILER_AILMTCH: Differential spoiler aileron matching
    - FWD_BAT_VOLT_MAX: Forward throttle battery voltage compensation maximum voltage
    - FWD_BAT_VOLT_MIN: Forward throttle battery voltage compensation minimum voltage
    - FWD_BAT_IDX: Forward throttle battery compensation index
    - FS_EKF_THRESH: EKF failsafe variance threshold
    - RTL_CLIMB_MIN: RTL minimum climb
    - MAN_EXPO_ROLL: Manual control expo for roll
    - MAN_EXPO_PITCH: Manual input expo for pitch
    - MAN_EXPO_RUDDER: Manual input expo for rudder
    - ONESHOT_MASK: Oneshot output mask
  - ADSB_ Parameters
    - ADSB_TYPE: ADSB Type
    - ADSB_LIST_MAX: ADSB vehicle list size
    - ADSB_LIST_RADIUS: ADSB vehicle list radius filter
    - ADSB_ICAO_ID: ICAO_ID vehicle identification number
    - ADSB_EMIT_TYPE: Emitter type
    - ADSB_LEN_WIDTH: Aircraft length and width
    - ADSB_OFFSET_LAT: GPS antenna lateral offset
    - ADSB_OFFSET_LON: GPS antenna longitudinal offset
    - ADSB_RF_SELECT: Transceiver RF selection
    - ADSB_SQUAWK: Squawk code
    - ADSB_RF_CAPABLE: RF capabilities
    - ADSB_LIST_ALT: ADSB vehicle list altitude filter
    - ADSB_ICAO_SPECL: ICAO_ID of special vehicle
    - ADSB_LOG: ADS-B logging
  - AFS_ Parameters
    - AFS_ENABLE: Enable Advanced Failsafe
    - AFS_MAN_PIN: Manual Pin
    - AFS_HB_PIN: Heartbeat Pin
    - AFS_WP_COMMS: Comms Waypoint
    - AFS_WP_GPS_LOSS: GPS Loss Waypoint
    - AFS_TERMINATE: Force Terminate
    - AFS_TERM_ACTION: Terminate action
    - AFS_TERM_PIN: Terminate Pin
    - AFS_AMSL_LIMIT: AMSL limit
    - AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit
    - AFS_QNH_PRESSURE: QNH pressure
    - AFS_MAX_GPS_LOSS: Maximum number of GPS loss events
    - AFS_MAX_COM_LOSS: Maximum number of comms loss events
    - AFS_GEOFENCE: Enable geofence Advanced Failsafe
    - AFS_RC: Enable RC Advanced Failsafe
    - AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes
    - AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously
    - AFS_RC_FAIL_TIME: RC failure time
    - AFS_MAX_RANGE: Max allowed range
  - AHRS_ Parameters
    - AHRS_GPS_GAIN: AHRS GPS gain
    - AHRS_GPS_USE: AHRS use GPS for DCM navigation and position-down
    - AHRS_YAW_P: Yaw P
    - AHRS_RP_P: AHRS RP_P
    - AHRS_WIND_MAX: Maximum wind
    - AHRS_TRIM_X: AHRS Trim Roll
    - AHRS_TRIM_Y: AHRS Trim Pitch
    - AHRS_TRIM_Z: AHRS Trim Yaw
    - AHRS_ORIENTATION: Board Orientation
    - AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient
    - AHRS_GPS_MINSATS: AHRS GPS Minimum satellites
    - AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation
    - AHRS_CUSTOM_ROLL: Board orientation roll offset
    - AHRS_CUSTOM_PIT: Board orientation pitch offset
    - AHRS_CUSTOM_YAW: Board orientation yaw offset
  - ARMING_ Parameters
    - ARMING_REQUIRE: Require Arming Motors
    - ARMING_ACCTHRESH: Accelerometer error threshold
    - ARMING_RUDDER: Arming with Rudder enable/disable
    - ARMING_MIS_ITEMS: Required mission items
    - ARMING_CHECK: Arm Checks to Perform (bitmask)
  - ARSPD Parameters
    - ARSPD_TYPE: Airspeed type
    - ARSPD_DEVID: Airspeed ID
    - ARSPD_USE: Airspeed use
    - ARSPD_OFFSET: Airspeed offset
    - ARSPD_RATIO: Airspeed ratio
    - ARSPD_PIN: Airspeed pin
    - ARSPD_AUTOCAL: Automatic airspeed ratio calibration
    - ARSPD_TUBE_ORDER: Control pitot tube order
    - ARSPD_SKIP_CAL: Skip airspeed calibration on startup
    - ARSPD_PSI_RANGE: The PSI range of the device
    - ARSPD_BUS: Airspeed I2C bus
    - ARSPD_PRIMARY: Primary airspeed sensor
    - ARSPD_OPTIONS: Airspeed options bitmask
    - ARSPD_WIND_MAX: Maximum airspeed and ground speed difference
    - ARSPD_WIND_WARN: Airspeed and ground speed difference that gives a warning
    - ARSPD2_TYPE: Second Airspeed type
    - ARSPD2_USE: Enable use of 2nd airspeed sensor
    - ARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor
    - ARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor
    - ARSPD2_PIN: Airspeed pin for 2nd airspeed sensor
    - ARSPD2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor
    - ARSPD2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor
    - ARSPD2_SKIP_CAL: Skip airspeed calibration on startup for 2nd sensor
    - ARSPD2_PSI_RANGE: The PSI range of the device for 2nd sensor
    - ARSPD2_BUS: Airspeed I2C bus for 2nd sensor
    - ARSPD2_DEVID: Airspeed2 ID
  - AVD_ Parameters
    - AVD_ENABLE: Enable Avoidance using ADSB
    - AVD_F_ACTION: Collision Avoidance Behavior
    - AVD_W_ACTION: Collision Avoidance Behavior - Warn
    - AVD_F_RCVRY: Recovery behaviour after a fail event
    - AVD_OBS_MAX: Maximum number of obstacles to track
    - AVD_W_TIME: Time Horizon Warn
    - AVD_F_TIME: Time Horizon Fail
    - AVD_W_DIST_XY: Distance Warn XY
    - AVD_F_DIST_XY: Distance Fail XY
    - AVD_W_DIST_Z: Distance Warn Z
    - AVD_F_DIST_Z: Distance Fail Z
    - AVD_F_ALT_MIN: ADS-B avoidance minimum altitude
  - BARO Parameters
    - BARO1_GND_PRESS: Ground Pressure
    - BARO_GND_TEMP: ground temperature
    - BARO_ALT_OFFSET: altitude offset
    - BARO_PRIMARY: Primary barometer
    - BARO_EXT_BUS: External baro bus
    - BARO_SPEC_GRAV: Specific Gravity (For water depth measurement)
    - BARO2_GND_PRESS: Ground Pressure
    - BARO3_GND_PRESS: Absolute Pressure
    - BARO_FLTR_RNG: Range in which sample is accepted
    - BARO_PROBE_EXT: External barometers to probe
    - BARO1_DEVID: Baro ID
    - BARO2_DEVID: Baro ID2
    - BARO3_DEVID: Baro ID3
  - BARO1_WCF_ Parameters
    - BARO1_WCF_ENABLE: Wind coefficient enable
    - BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)
    - BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)
    - BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)
    - BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)
  - BARO2_WCF_ Parameters
    - BARO2_WCF_ENABLE: Wind coefficient enable
    - BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)
    - BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)
    - BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)
    - BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)
  - BARO3_WCF_ Parameters
    - BARO3_WCF_ENABLE: Wind coefficient enable
    - BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)
    - BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)
    - BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)
    - BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)
  - BATT2_ Parameters
    - BATT2_MONITOR: Battery monitoring
    - BATT2_CAPACITY: Battery capacity
    - BATT2_WATT_MAX: Maximum allowed power (Watts)
    - BATT2_SERIAL_NUM: Battery serial number
    - BATT2_LOW_TIMER: Low voltage timeout
    - BATT2_FS_VOLTSRC: Failsafe voltage source
    - BATT2_LOW_VOLT: Low battery voltage
    - BATT2_LOW_MAH: Low battery capacity
    - BATT2_CRT_VOLT: Critical battery voltage
    - BATT2_CRT_MAH: Battery critical capacity
    - BATT2_FS_LOW_ACT: Low battery failsafe action
    - BATT2_FS_CRT_ACT: Critical battery failsafe action
    - BATT2_ARM_VOLT: Required arming voltage
    - BATT2_ARM_MAH: Required arming remaining capacity
    - BATT2_OPTIONS: Battery monitor options
    - BATT2_VOLT_PIN: Battery Voltage sensing pin
    - BATT2_CURR_PIN: Battery Current sensing pin
    - BATT2_VOLT_MULT: Voltage Multiplier
    - BATT2_AMP_PERVLT: Amps per volt
    - BATT2_AMP_OFFSET: AMP offset
    - BATT2_I2C_BUS: Battery monitor I2C bus number
    - BATT2_I2C_ADDR: Battery monitor I2C address
  - BATT3_ Parameters
    - BATT3_MONITOR: Battery monitoring
    - BATT3_CAPACITY: Battery capacity
    - BATT3_WATT_MAX: Maximum allowed power (Watts)
    - BATT3_SERIAL_NUM: Battery serial number
    - BATT3_LOW_TIMER: Low voltage timeout
    - BATT3_FS_VOLTSRC: Failsafe voltage source
    - BATT3_LOW_VOLT: Low battery voltage
    - BATT3_LOW_MAH: Low battery capacity
    - BATT3_CRT_VOLT: Critical battery voltage
    - BATT3_CRT_MAH: Battery critical capacity
    - BATT3_FS_LOW_ACT: Low battery failsafe action
    - BATT3_FS_CRT_ACT: Critical battery failsafe action
    - BATT3_ARM_VOLT: Required arming voltage
    - BATT3_ARM_MAH: Required arming remaining capacity
    - BATT3_OPTIONS: Battery monitor options
    - BATT3_VOLT_PIN: Battery Voltage sensing pin
    - BATT3_CURR_PIN: Battery Current sensing pin
    - BATT3_VOLT_MULT: Voltage Multiplier
    - BATT3_AMP_PERVLT: Amps per volt
    - BATT3_AMP_OFFSET: AMP offset
    - BATT3_I2C_BUS: Battery monitor I2C bus number
    - BATT3_I2C_ADDR: Battery monitor I2C address
  - BATT4_ Parameters
    - BATT4_MONITOR: Battery monitoring
    - BATT4_CAPACITY: Battery capacity
    - BATT4_WATT_MAX: Maximum allowed power (Watts)
    - BATT4_SERIAL_NUM: Battery serial number
    - BATT4_LOW_TIMER: Low voltage timeout
    - BATT4_FS_VOLTSRC: Failsafe voltage source
    - BATT4_LOW_VOLT: Low battery voltage
    - BATT4_LOW_MAH: Low battery capacity
    - BATT4_CRT_VOLT: Critical battery voltage
    - BATT4_CRT_MAH: Battery critical capacity
    - BATT4_FS_LOW_ACT: Low battery failsafe action
    - BATT4_FS_CRT_ACT: Critical battery failsafe action
    - BATT4_ARM_VOLT: Required arming voltage
    - BATT4_ARM_MAH: Required arming remaining capacity
    - BATT4_OPTIONS: Battery monitor options
    - BATT4_VOLT_PIN: Battery Voltage sensing pin
    - BATT4_CURR_PIN: Battery Current sensing pin
    - BATT4_VOLT_MULT: Voltage Multiplier
    - BATT4_AMP_PERVLT: Amps per volt
    - BATT4_AMP_OFFSET: AMP offset
    - BATT4_I2C_BUS: Battery monitor I2C bus number
    - BATT4_I2C_ADDR: Battery monitor I2C address
  - BATT5_ Parameters
    - BATT5_MONITOR: Battery monitoring
    - BATT5_CAPACITY: Battery capacity
    - BATT5_WATT_MAX: Maximum allowed power (Watts)
    - BATT5_SERIAL_NUM: Battery serial number
    - BATT5_LOW_TIMER: Low voltage timeout
    - BATT5_FS_VOLTSRC: Failsafe voltage source
    - BATT5_LOW_VOLT: Low battery voltage
    - BATT5_LOW_MAH: Low battery capacity
    - BATT5_CRT_VOLT: Critical battery voltage
    - BATT5_CRT_MAH: Battery critical capacity
    - BATT5_FS_LOW_ACT: Low battery failsafe action
    - BATT5_FS_CRT_ACT: Critical battery failsafe action
    - BATT5_ARM_VOLT: Required arming voltage
    - BATT5_ARM_MAH: Required arming remaining capacity
    - BATT5_OPTIONS: Battery monitor options
    - BATT5_VOLT_PIN: Battery Voltage sensing pin
    - BATT5_CURR_PIN: Battery Current sensing pin
    - BATT5_VOLT_MULT: Voltage Multiplier
    - BATT5_AMP_PERVLT: Amps per volt
    - BATT5_AMP_OFFSET: AMP offset
    - BATT5_I2C_BUS: Battery monitor I2C bus number
    - BATT5_I2C_ADDR: Battery monitor I2C address
  - BATT6_ Parameters
    - BATT6_MONITOR: Battery monitoring
    - BATT6_CAPACITY: Battery capacity
    - BATT6_WATT_MAX: Maximum allowed power (Watts)
    - BATT6_SERIAL_NUM: Battery serial number
    - BATT6_LOW_TIMER: Low voltage timeout
    - BATT6_FS_VOLTSRC: Failsafe voltage source
    - BATT6_LOW_VOLT: Low battery voltage
    - BATT6_LOW_MAH: Low battery capacity
    - BATT6_CRT_VOLT: Critical battery voltage
    - BATT6_CRT_MAH: Battery critical capacity
    - BATT6_FS_LOW_ACT: Low battery failsafe action
    - BATT6_FS_CRT_ACT: Critical battery failsafe action
    - BATT6_ARM_VOLT: Required arming voltage
    - BATT6_ARM_MAH: Required arming remaining capacity
    - BATT6_OPTIONS: Battery monitor options
    - BATT6_VOLT_PIN: Battery Voltage sensing pin
    - BATT6_CURR_PIN: Battery Current sensing pin
    - BATT6_VOLT_MULT: Voltage Multiplier
    - BATT6_AMP_PERVLT: Amps per volt
    - BATT6_AMP_OFFSET: AMP offset
    - BATT6_I2C_BUS: Battery monitor I2C bus number
    - BATT6_I2C_ADDR: Battery monitor I2C address
  - BATT7_ Parameters
    - BATT7_MONITOR: Battery monitoring
    - BATT7_CAPACITY: Battery capacity
    - BATT7_WATT_MAX: Maximum allowed power (Watts)
    - BATT7_SERIAL_NUM: Battery serial number
    - BATT7_LOW_TIMER: Low voltage timeout
    - BATT7_FS_VOLTSRC: Failsafe voltage source
    - BATT7_LOW_VOLT: Low battery voltage
    - BATT7_LOW_MAH: Low battery capacity
    - BATT7_CRT_VOLT: Critical battery voltage
    - BATT7_CRT_MAH: Battery critical capacity
    - BATT7_FS_LOW_ACT: Low battery failsafe action
    - BATT7_FS_CRT_ACT: Critical battery failsafe action
    - BATT7_ARM_VOLT: Required arming voltage
    - BATT7_ARM_MAH: Required arming remaining capacity
    - BATT7_OPTIONS: Battery monitor options
    - BATT7_VOLT_PIN: Battery Voltage sensing pin
    - BATT7_CURR_PIN: Battery Current sensing pin
    - BATT7_VOLT_MULT: Voltage Multiplier
    - BATT7_AMP_PERVLT: Amps per volt
    - BATT7_AMP_OFFSET: AMP offset
    - BATT7_I2C_BUS: Battery monitor I2C bus number
    - BATT7_I2C_ADDR: Battery monitor I2C address
  - BATT8_ Parameters
    - BATT8_MONITOR: Battery monitoring
    - BATT8_CAPACITY: Battery capacity
    - BATT8_WATT_MAX: Maximum allowed power (Watts)
    - BATT8_SERIAL_NUM: Battery serial number
    - BATT8_LOW_TIMER: Low voltage timeout
    - BATT8_FS_VOLTSRC: Failsafe voltage source
    - BATT8_LOW_VOLT: Low battery voltage
    - BATT8_LOW_MAH: Low battery capacity
    - BATT8_CRT_VOLT: Critical battery voltage
    - BATT8_CRT_MAH: Battery critical capacity
    - BATT8_FS_LOW_ACT: Low battery failsafe action
    - BATT8_FS_CRT_ACT: Critical battery failsafe action
    - BATT8_ARM_VOLT: Required arming voltage
    - BATT8_ARM_MAH: Required arming remaining capacity
    - BATT8_OPTIONS: Battery monitor options
    - BATT8_VOLT_PIN: Battery Voltage sensing pin
    - BATT8_CURR_PIN: Battery Current sensing pin
    - BATT8_VOLT_MULT: Voltage Multiplier
    - BATT8_AMP_PERVLT: Amps per volt
    - BATT8_AMP_OFFSET: AMP offset
    - BATT8_I2C_BUS: Battery monitor I2C bus number
    - BATT8_I2C_ADDR: Battery monitor I2C address
  - BATT9_ Parameters
    - BATT9_MONITOR: Battery monitoring
    - BATT9_CAPACITY: Battery capacity
    - BATT9_WATT_MAX: Maximum allowed power (Watts)
    - BATT9_SERIAL_NUM: Battery serial number
    - BATT9_LOW_TIMER: Low voltage timeout
    - BATT9_FS_VOLTSRC: Failsafe voltage source
    - BATT9_LOW_VOLT: Low battery voltage
    - BATT9_LOW_MAH: Low battery capacity
    - BATT9_CRT_VOLT: Critical battery voltage
    - BATT9_CRT_MAH: Battery critical capacity
    - BATT9_FS_LOW_ACT: Low battery failsafe action
    - BATT9_FS_CRT_ACT: Critical battery failsafe action
    - BATT9_ARM_VOLT: Required arming voltage
    - BATT9_ARM_MAH: Required arming remaining capacity
    - BATT9_OPTIONS: Battery monitor options
    - BATT9_VOLT_PIN: Battery Voltage sensing pin
    - BATT9_CURR_PIN: Battery Current sensing pin
    - BATT9_VOLT_MULT: Voltage Multiplier
    - BATT9_AMP_PERVLT: Amps per volt
    - BATT9_AMP_OFFSET: AMP offset
    - BATT9_I2C_BUS: Battery monitor I2C bus number
    - BATT9_I2C_ADDR: Battery monitor I2C address
  - BATT_ Parameters
    - BATT_MONITOR: Battery monitoring
    - BATT_CAPACITY: Battery capacity
    - BATT_WATT_MAX: Maximum allowed power (Watts)
    - BATT_SERIAL_NUM: Battery serial number
    - BATT_LOW_TIMER: Low voltage timeout
    - BATT_FS_VOLTSRC: Failsafe voltage source
    - BATT_LOW_VOLT: Low battery voltage
    - BATT_LOW_MAH: Low battery capacity
    - BATT_CRT_VOLT: Critical battery voltage
    - BATT_CRT_MAH: Battery critical capacity
    - BATT_FS_LOW_ACT: Low battery failsafe action
    - BATT_FS_CRT_ACT: Critical battery failsafe action
    - BATT_ARM_VOLT: Required arming voltage
    - BATT_ARM_MAH: Required arming remaining capacity
    - BATT_OPTIONS: Battery monitor options
    - BATT_VOLT_PIN: Battery Voltage sensing pin
    - BATT_CURR_PIN: Battery Current sensing pin
    - BATT_VOLT_MULT: Voltage Multiplier
    - BATT_AMP_PERVLT: Amps per volt
    - BATT_AMP_OFFSET: AMP offset
    - BATT_I2C_BUS: Battery monitor I2C bus number
    - BATT_I2C_ADDR: Battery monitor I2C address
  - BRD_ Parameters
    - BRD_SER1_RTSCTS: Serial 1 flow control
    - BRD_SER2_RTSCTS: Serial 2 flow control
    - BRD_SER3_RTSCTS: Serial 3 flow control
    - BRD_SER4_RTSCTS: Serial 4 flow control
    - BRD_SER5_RTSCTS: Serial 5 flow control
    - BRD_SAFETYENABLE: Enable use of safety arming switch
    - BRD_SBUS_OUT: SBUS output rate
    - BRD_SERIAL_NUM: User-defined serial number
    - BRD_SAFETY_MASK: Outputs which ignore the safety switch state
    - BRD_IMU_TARGTEMP: Target IMU temperature
    - BRD_TYPE: Board type
    - BRD_IO_ENABLE: Enable IO co-processor
    - BRD_SAFETYOPTION: Options for safety button behavior
    - BRD_VBUS_MIN: Autopilot board voltage requirement
    - BRD_VSERVO_MIN: Servo voltage requirement
    - BRD_SD_SLOWDOWN: microSD slowdown
    - BRD_PWM_VOLT_SEL: Set PWM Out Voltage
    - BRD_OPTIONS: Board options
    - BRD_BOOT_DELAY: Boot delay
    - BRD_IMUHEAT_P: IMU Heater P gain
    - BRD_IMUHEAT_I: IMU Heater I gain
    - BRD_IMUHEAT_IMAX: IMU Heater IMAX
    - BRD_ALT_CONFIG: Alternative HW config
    - BRD_TEMPMGN_LOW: hearter temp lower margin
  - BRD_RADIO Parameters
    - BRD_RADIO_TYPE: Set type of direct attached radio
    - BRD_RADIO_PROT: protocol
    - BRD_RADIO_DEBUG: debug level
    - BRD_RADIO_DISCRC: disable receive CRC
    - BRD_RADIO_SIGCH: RSSI signal strength
    - BRD_RADIO_PPSCH: Packet rate channel
    - BRD_RADIO_TELEM: Enable telemetry
    - BRD_RADIO_TXPOW: Telemetry Transmit power
    - BRD_RADIO_FCCTST: Put radio into FCC test mode
    - BRD_RADIO_STKMD: Stick input mode
    - BRD_RADIO_TESTCH: Set radio to factory test channel
    - BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter
    - BRD_RADIO_TPPSCH: Telemetry PPS channel
    - BRD_RADIO_TXMAX: Transmitter transmit power
    - BRD_RADIO_BZOFS: Transmitter buzzer adjustment
    - BRD_RADIO_ABTIME: Auto-bind time
    - BRD_RADIO_ABLVL: Auto-bind level
  - BRD_RTC Parameters
    - BRD_RTC_TYPES: Allowed sources of RTC time
    - BRD_RTC_TZ_MIN: Timezone offset from UTC
  - BTN_ Parameters
    - BTN_ENABLE: Enable button reporting
    - BTN_PIN1: First button Pin
    - BTN_PIN2: Second button Pin
    - BTN_PIN3: Third button Pin
    - BTN_PIN4: Fourth button Pin
    - BTN_REPORT_SEND: Report send time
    - BTN_OPTIONS1: Button Pin 1 Options
    - BTN_OPTIONS2: Button Pin 2 Options
    - BTN_OPTIONS3: Button Pin 3 Options
    - BTN_OPTIONS4: Button Pin 4 Options
    - BTN_FUNC1: Button Pin 1 RC Channel function
    - BTN_FUNC2: Button Pin 2 RC Channel function
    - BTN_FUNC3: Button Pin 3 RC Channel function
    - BTN_FUNC4: Button Pin 4 RC Channel function
  - CAM_ Parameters
    - CAM_TRIGG_TYPE: Camera shutter (trigger) type
    - CAM_DURATION: Duration that shutter is held open
    - CAM_SERVO_ON: Servo ON PWM value
    - CAM_SERVO_OFF: Servo OFF PWM value
    - CAM_TRIGG_DIST: Camera trigger distance
    - CAM_RELAY_ON: Relay ON value
    - CAM_MIN_INTERVAL: Minimum time between photos
    - CAM_MAX_ROLL: Maximum photo roll angle.
    - CAM_FEEDBACK_PIN: Camera feedback pin
    - CAM_FEEDBACK_POL: Camera feedback pin polarity
    - CAM_AUTO_ONLY: Distance-trigging in AUTO mode only
    - CAM_TYPE: Type of camera (0: None, 1: BMMCC)
  - CAM_RC_ Parameters
    - CAM_RC_TYPE: RunCam device type
    - CAM_RC_FEATURES: RunCam features available
    - CAM_RC_BT_DELAY: RunCam boot delay before allowing updates
    - CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses
    - CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses
    - CAM_RC_CONTROL: RunCam control option
  - CAN_ Parameters
    - CAN_LOGLEVEL: Loglevel
  - CAN_D1_ Parameters
    - CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver
  - CAN_D1_KDE_ Parameters
    - CAN_D1_KDE_NPOLE: Number of motor poles
  - CAN_D1_PC_ Parameters
    - CAN_D1_PC_ESC_BM: ESC channels
    - CAN_D1_PC_ESC_RT: ESC output rate
    - CAN_D1_PC_SRV_BM: Servo channels
    - CAN_D1_PC_SRV_RT: Servo command output rate
  - CAN_D1_TST_ Parameters
    - CAN_D1_TST_ID: CAN Test Index
    - CAN_D1_TST_LPR8: CANTester LoopRate
  - CAN_D1_UC_ Parameters
    - CAN_D1_UC_NODE: UAVCAN node that is used for this network
    - CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
    - CAN_D1_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
    - CAN_D1_UC_SRV_RT: Servo output rate
    - CAN_D1_UC_OPTION: UAVCAN options
    - CAN_D1_UC_NTF_RT: Notify State rate
  - CAN_D2_ Parameters
    - CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver
  - CAN_D2_KDE_ Parameters
    - CAN_D2_KDE_NPOLE: Number of motor poles
  - CAN_D2_PC_ Parameters
    - CAN_D2_PC_ESC_BM: ESC channels
    - CAN_D2_PC_ESC_RT: ESC output rate
    - CAN_D2_PC_SRV_BM: Servo channels
    - CAN_D2_PC_SRV_RT: Servo command output rate
  - CAN_D2_TST_ Parameters
    - CAN_D2_TST_ID: CAN Test Index
    - CAN_D2_TST_LPR8: CANTester LoopRate
  - CAN_D2_UC_ Parameters
    - CAN_D2_UC_NODE: UAVCAN node that is used for this network
    - CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
    - CAN_D2_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
    - CAN_D2_UC_SRV_RT: Servo output rate
    - CAN_D2_UC_OPTION: UAVCAN options
    - CAN_D2_UC_NTF_RT: Notify State rate
  - CAN_D3_ Parameters
    - CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver
  - CAN_D3_KDE_ Parameters
    - CAN_D3_KDE_NPOLE: Number of motor poles
  - CAN_D3_PC_ Parameters
    - CAN_D3_PC_ESC_BM: ESC channels
    - CAN_D3_PC_ESC_RT: ESC output rate
    - CAN_D3_PC_SRV_BM: Servo channels
    - CAN_D3_PC_SRV_RT: Servo command output rate
  - CAN_D3_TST_ Parameters
    - CAN_D3_TST_ID: CAN Test Index
    - CAN_D3_TST_LPR8: CANTester LoopRate
  - CAN_D3_UC_ Parameters
    - CAN_D3_UC_NODE: UAVCAN node that is used for this network
    - CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
    - CAN_D3_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
    - CAN_D3_UC_SRV_RT: Servo output rate
    - CAN_D3_UC_OPTION: UAVCAN options
    - CAN_D3_UC_NTF_RT: Notify State rate
  - CAN_P1_ Parameters
    - CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface
    - CAN_P1_BITRATE: Bitrate of CAN interface
  - CAN_P2_ Parameters
    - CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface
    - CAN_P2_BITRATE: Bitrate of CAN interface
  - CAN_P3_ Parameters
    - CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface
    - CAN_P3_BITRATE: Bitrate of CAN interface
  - CAN_SLCAN_ Parameters
    - CAN_SLCAN_CPORT: SLCAN Route
    - CAN_SLCAN_SERNUM: SLCAN Serial Port
    - CAN_SLCAN_TIMOUT: SLCAN Timeout
    - CAN_SLCAN_SDELAY: SLCAN Start Delay
  - CHUTE_ Parameters
    - CHUTE_ENABLED: Parachute release enabled or disabled
    - CHUTE_TYPE: Parachute release mechanism type (relay or servo)
    - CHUTE_SERVO_ON: Parachute Servo ON PWM value
    - CHUTE_SERVO_OFF: Servo OFF PWM value
    - CHUTE_ALT_MIN: Parachute min altitude in meters above home
    - CHUTE_DELAY_MS: Parachute release delay
    - CHUTE_CRT_SINK: Critical sink speed rate in m/s to trigger emergency parachute
    - CHUTE_OPTIONS: Parachute options
  - COMPASS_ Parameters
    - COMPASS_OFS_X: Compass offsets in milligauss on the X axis
    - COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis
    - COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis
    - COMPASS_DEC: Compass declination
    - COMPASS_LEARN: Learn compass offsets automatically
    - COMPASS_USE: Use compass for yaw
    - COMPASS_AUTODEC: Auto Declination
    - COMPASS_MOTCT: Motor interference compensation type
    - COMPASS_MOT_X: Motor interference compensation for body frame X axis
    - COMPASS_MOT_Y: Motor interference compensation for body frame Y axis
    - COMPASS_MOT_Z: Motor interference compensation for body frame Z axis
    - COMPASS_ORIENT: Compass orientation
    - COMPASS_EXTERNAL: Compass is attached via an external cable
    - COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis
    - COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis
    - COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis
    - COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis
    - COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis
    - COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis
    - COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis
    - COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis
    - COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis
    - COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis
    - COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis
    - COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis
    - COMPASS_DEV_ID: Compass device id
    - COMPASS_DEV_ID2: Compass2 device id
    - COMPASS_DEV_ID3: Compass3 device id
    - COMPASS_USE2: Compass2 used for yaw
    - COMPASS_ORIENT2: Compass2 orientation
    - COMPASS_EXTERN2: Compass2 is attached via an external cable
    - COMPASS_USE3: Compass3 used for yaw
    - COMPASS_ORIENT3: Compass3 orientation
    - COMPASS_EXTERN3: Compass3 is attached via an external cable
    - COMPASS_DIA_X: Compass soft-iron diagonal X component
    - COMPASS_DIA_Y: Compass soft-iron diagonal Y component
    - COMPASS_DIA_Z: Compass soft-iron diagonal Z component
    - COMPASS_ODI_X: Compass soft-iron off-diagonal X component
    - COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component
    - COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component
    - COMPASS_DIA2_X: Compass2 soft-iron diagonal X component
    - COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component
    - COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component
    - COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component
    - COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component
    - COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component
    - COMPASS_DIA3_X: Compass3 soft-iron diagonal X component
    - COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component
    - COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component
    - COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component
    - COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component
    - COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component
    - COMPASS_CAL_FIT: Compass calibration fitness
    - COMPASS_OFFS_MAX: Compass maximum offset
    - COMPASS_TYPEMASK: Compass disable driver type mask
    - COMPASS_FLTR_RNG: Range in which sample is accepted
    - COMPASS_AUTO_ROT: Automatically check orientation
    - COMPASS_PRIO1_ID: Compass device id with 1st order priority
    - COMPASS_PRIO2_ID: Compass device id with 2nd order priority
    - COMPASS_PRIO3_ID: Compass device id with 3rd order priority
    - COMPASS_ENABLE: Enable Compass
    - COMPASS_SCALE: Compass1 scale factor
    - COMPASS_SCALE2: Compass2 scale factor
    - COMPASS_SCALE3: Compass3 scale factor
    - COMPASS_OPTIONS: Compass options
    - COMPASS_DEV_ID4: Compass4 device id
    - COMPASS_DEV_ID5: Compass5 device id
    - COMPASS_DEV_ID6: Compass6 device id
    - COMPASS_DEV_ID7: Compass7 device id
    - COMPASS_DEV_ID8: Compass8 device id
    - COMPASS_CUS_ROLL: Custom orientation roll offset
    - COMPASS_CUS_PIT: Custom orientation pitch offset
    - COMPASS_CUS_YAW: Custom orientation yaw offset
  - COMPASS_PMOT Parameters
    - COMPASS_PMOT_EN: per-motor compass correction enable
    - COMPASS_PMOT_EXP: per-motor exponential correction
    - COMPASS_PMOT1_X: Compass per-motor1 X
    - COMPASS_PMOT1_Y: Compass per-motor1 Y
    - COMPASS_PMOT1_Z: Compass per-motor1 Z
    - COMPASS_PMOT2_X: Compass per-motor2 X
    - COMPASS_PMOT2_Y: Compass per-motor2 Y
    - COMPASS_PMOT2_Z: Compass per-motor2 Z
    - COMPASS_PMOT3_X: Compass per-motor3 X
    - COMPASS_PMOT3_Y: Compass per-motor3 Y
    - COMPASS_PMOT3_Z: Compass per-motor3 Z
    - COMPASS_PMOT4_X: Compass per-motor4 X
    - COMPASS_PMOT4_Y: Compass per-motor4 Y
    - COMPASS_PMOT4_Z: Compass per-motor4 Z
  - EAHRS Parameters
    - EAHRS_TYPE: AHRS type
    - EAHRS_RATE: AHRS data rate
  - EFI Parameters
    - EFI_TYPE: EFI communication type
    - EFI_COEF1: EFI Calibration Coefficient 1
    - EFI_COEF2: EFI Calibration Coefficient 2
  - EK2_ Parameters
    - EK2_ENABLE: Enable EKF2
    - EK2_GPS_TYPE: GPS mode control
    - EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
    - EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
    - EK2_VEL_I_GATE: GPS velocity innovation gate size
    - EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)
    - EK2_POS_I_GATE: GPS position measurement gate size
    - EK2_GLITCH_RAD: GPS glitch radius gate size (m)
    - EK2_ALT_SOURCE: Primary altitude sensor source
    - EK2_ALT_M_NSE: Altitude measurement noise (m)
    - EK2_HGT_I_GATE: Height measurement gate size
    - EK2_HGT_DELAY: Height measurement delay (msec)
    - EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)
    - EK2_MAG_CAL: Magnetometer default fusion mode
    - EK2_MAG_I_GATE: Magnetometer measurement gate size
    - EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
    - EK2_EAS_I_GATE: Airspeed measurement gate size
    - EK2_RNG_M_NSE: Range finder measurement noise (m)
    - EK2_RNG_I_GATE: Range finder measurement gate size
    - EK2_MAX_FLOW: Maximum valid optical flow rate
    - EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)
    - EK2_FLOW_I_GATE: Optical Flow measurement gate size
    - EK2_FLOW_DELAY: Optical Flow measurement delay (msec)
    - EK2_GYRO_P_NSE: Rate gyro noise (rad/s)
    - EK2_ACC_P_NSE: Accelerometer noise (m/s^2)
    - EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
    - EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)
    - EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
    - EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)
    - EK2_WIND_PSCALE: Height rate to wind process noise scaler
    - EK2_GPS_CHECK: GPS preflight check
    - EK2_IMU_MASK: Bitmask of active IMUs
    - EK2_CHECK_SCALE: GPS accuracy check scaler (%)
    - EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
    - EK2_YAW_M_NSE: Yaw measurement noise (rad)
    - EK2_YAW_I_GATE: Yaw measurement gate size
    - EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
    - EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
    - EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
    - EK2_RNG_USE_HGT: Range finder switch height percentage
    - EK2_TERR_GRAD: Maximum terrain gradient
    - EK2_BCN_M_NSE: Range beacon measurement noise (m)
    - EK2_BCN_I_GTE: Range beacon measurement gate size
    - EK2_BCN_DELAY: Range beacon measurement delay (msec)
    - EK2_RNG_USE_SPD: Range finder max ground speed
    - EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
    - EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction
    - EK2_FLOW_USE: Optical flow use bitmask
    - EK2_MAG_EF_LIM: EarthField error limit
    - EK2_HRT_FILT: Height rate filter crossover frequency
    - EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run
    - EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used
    - EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed
  - EK3_ Parameters
    - EK3_ENABLE: Enable EKF3
    - EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
    - EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
    - EK3_VEL_I_GATE: GPS velocity innovation gate size
    - EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)
    - EK3_POS_I_GATE: GPS position measurement gate size
    - EK3_GLITCH_RAD: GPS glitch radius gate size (m)
    - EK3_ALT_M_NSE: Altitude measurement noise (m)
    - EK3_HGT_I_GATE: Height measurement gate size
    - EK3_HGT_DELAY: Height measurement delay (msec)
    - EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)
    - EK3_MAG_CAL: Magnetometer default fusion mode
    - EK3_MAG_I_GATE: Magnetometer measurement gate size
    - EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
    - EK3_EAS_I_GATE: Airspeed measurement gate size
    - EK3_RNG_M_NSE: Range finder measurement noise (m)
    - EK3_RNG_I_GATE: Range finder measurement gate size
    - EK3_MAX_FLOW: Maximum valid optical flow rate
    - EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)
    - EK3_FLOW_I_GATE: Optical Flow measurement gate size
    - EK3_FLOW_DELAY: Optical Flow measurement delay (msec)
    - EK3_GYRO_P_NSE: Rate gyro noise (rad/s)
    - EK3_ACC_P_NSE: Accelerometer noise (m/s^2)
    - EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
    - EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
    - EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)
    - EK3_WIND_PSCALE: Height rate to wind process noise scaler
    - EK3_GPS_CHECK: GPS preflight check
    - EK3_IMU_MASK: Bitmask of active IMUs
    - EK3_CHECK_SCALE: GPS accuracy check scaler (%)
    - EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
    - EK3_BETA_MASK: Bitmask controlling sidelip angle fusion
    - EK3_YAW_M_NSE: Yaw measurement noise (rad)
    - EK3_YAW_I_GATE: Yaw measurement gate size
    - EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
    - EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
    - EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
    - EK3_RNG_USE_HGT: Range finder switch height percentage
    - EK3_TERR_GRAD: Maximum terrain gradient
    - EK3_BCN_M_NSE: Range beacon measurement noise (m)
    - EK3_BCN_I_GTE: Range beacon measurement gate size
    - EK3_BCN_DELAY: Range beacon measurement delay (msec)
    - EK3_RNG_USE_SPD: Range finder max ground speed
    - EK3_ACC_BIAS_LIM: Accelerometer bias limit
    - EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
    - EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction
    - EK3_VIS_VERR_MIN: Visual odometry minimum velocity error
    - EK3_VIS_VERR_MAX: Visual odometry maximum velocity error
    - EK3_WENC_VERR: Wheel odometry velocity error
    - EK3_FLOW_USE: Optical flow use bitmask
    - EK3_HRT_FILT: Height rate filter crossover frequency
    - EK3_MAG_EF_LIM: EarthField error limit
    - EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run
    - EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used
    - EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed
    - EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold
    - EK3_AFFINITY: EKF3 Sensor Affinity Options
    - EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag
    - EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag
    - EK3_DRAG_M_NSE: Observation noise for drag acceleration
    - EK3_DRAG_MCOEF: Momentum coefficient for propeller drag
    - EK3_OGNM_TEST_SF: On ground not moving test scale factor
    - EK3_GND_EFF_DZ: Baro height ground effect dead zone
    - EK3_PRIMARY: Primary core number
  - EK3_SRC Parameters
    - EK3_SRC1_POSXY: Position Horizontal Source (Primary)
    - EK3_SRC1_VELXY: Velocity Horizontal Source
    - EK3_SRC1_POSZ: Position Vertical Source
    - EK3_SRC1_VELZ: Velocity Vertical Source
    - EK3_SRC1_YAW: Yaw Source
    - EK3_SRC2_POSXY: Position Horizontal Source (Secondary)
    - EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)
    - EK3_SRC2_POSZ: Position Vertical Source (Secondary)
    - EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)
    - EK3_SRC2_YAW: Yaw Source (Secondary)
    - EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)
    - EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)
    - EK3_SRC3_POSZ: Position Vertical Source (Tertiary)
    - EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)
    - EK3_SRC3_YAW: Yaw Source (Tertiary)
    - EK3_SRC_OPTIONS: EKF Source Options
  - FENCE_ Parameters
    - FENCE_ENABLE: Fence enable/disable
    - FENCE_TYPE: Fence Type
    - FENCE_ACTION: Fence Action
    - FENCE_ALT_MAX: Fence Maximum Altitude
    - FENCE_RADIUS: Circular Fence Radius
    - FENCE_MARGIN: Fence Margin
    - FENCE_TOTAL: Fence polygon point total
    - FENCE_ALT_MIN: Fence Minimum Altitude
    - FENCE_RET_RALLY: Fence Return to Rally
    - FENCE_RET_ALT: Fence Return Altitude
    - FENCE_AUTOENABLE: Fence Auto-Enable
  - FFT_ Parameters
    - FFT_ENABLE: Enable
    - FFT_MINHZ: Minimum Frequency
    - FFT_MAXHZ: Maximum Frequency
    - FFT_SAMPLE_MODE: Sample Mode
    - FFT_WINDOW_SIZE: FFT window size
    - FFT_WINDOW_OLAP: FFT window overlap
    - FFT_FREQ_HOVER: FFT learned hover frequency
    - FFT_THR_REF: FFT learned thrust reference
    - FFT_SNR_REF: FFT SNR reference threshold
    - FFT_ATT_REF: FFT attenuation for bandwidth calculation
    - FFT_BW_HOVER: FFT learned bandwidth at hover
    - FFT_HMNC_FIT: FFT harmonic fit frequency threshold
    - FFT_HMNC_PEAK: FFT harmonic peak target
  - FLOW Parameters
    - FLOW_TYPE: Optical flow sensor type
    - FLOW_FXSCALER: X axis optical flow scale factor correction
    - FLOW_FYSCALER: Y axis optical flow scale factor correction
    - FLOW_ORIENT_YAW: Flow sensor yaw alignment
    - FLOW_POS_X: X position offset
    - FLOW_POS_Y: Y position offset
    - FLOW_POS_Z: Z position offset
    - FLOW_ADDR: Address on the bus
  - FRSKY_ Parameters
    - FRSKY_UPLINK_ID: Uplink sensor id
    - FRSKY_DNLINK1_ID: First downlink sensor id
    - FRSKY_DNLINK2_ID: Second downlink sensor id
    - FRSKY_DNLINK_ID: Default downlink sensor id
    - FRSKY_OPTIONS: FRSky Telemetry Options
  - GEN_ Parameters
    - GEN_TYPE: Generator type
  - GPS Parameters
    - GPS_TYPE: 1st GPS type
    - GPS_TYPE2: 2nd GPS type
    - GPS_NAVFILTER: Navigation filter setting
    - GPS_AUTO_SWITCH: Automatic Switchover Setting
    - GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS
    - GPS_SBAS_MODE: SBAS Mode
    - GPS_MIN_ELEV: Minimum elevation
    - GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets
    - GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask
    - GPS_RAW_DATA: Raw data logging
    - GPS_GNSS_MODE: GNSS system configuration
    - GPS_SAVE_CFG: Save GPS configuration
    - GPS_GNSS_MODE2: GNSS system configuration
    - GPS_AUTO_CONFIG: Automatic GPS configuration
    - GPS_RATE_MS: GPS update rate in milliseconds
    - GPS_RATE_MS2: GPS 2 update rate in milliseconds
    - GPS_POS1_X: Antenna X position offset
    - GPS_POS1_Y: Antenna Y position offset
    - GPS_POS1_Z: Antenna Z position offset
    - GPS_POS2_X: Antenna X position offset
    - GPS_POS2_Y: Antenna Y position offset
    - GPS_POS2_Z: Antenna Z position offset
    - GPS_DELAY_MS: GPS delay in milliseconds
    - GPS_DELAY_MS2: GPS 2 delay in milliseconds
    - GPS_BLEND_MASK: Multi GPS Blending Mask
    - GPS_BLEND_TC: Blending time constant
    - GPS_DRV_OPTIONS: driver options
    - GPS_COM_PORT: GPS physical COM port
    - GPS_COM_PORT2: GPS physical COM port
    - GPS_PRIMARY: Primary GPS
    - GPS_CAN_NODEID1: GPS Node ID 1
    - GPS_CAN_NODEID2: GPS Node ID 2
    - GPS1_CAN_OVRIDE: First UAVCAN GPS NODE ID
    - GPS2_CAN_OVRIDE: Second UAVCAN GPS NODE ID
  - GPS_MB1_ Parameters
    - GPS_MB1_TYPE: Moving base type
    - GPS_MB1_OFS_X: Base antenna X position offset
    - GPS_MB1_OFS_Y: Base antenna Y position offset
    - GPS_MB1_OFS_Z: Base antenna Z position offset
  - GPS_MB2_ Parameters
    - GPS_MB2_TYPE: Moving base type
    - GPS_MB2_OFS_X: Base antenna X position offset
    - GPS_MB2_OFS_Y: Base antenna Y position offset
    - GPS_MB2_OFS_Z: Base antenna Z position offset
  - GRIP_ Parameters
    - GRIP_ENABLE: Gripper Enable/Disable
    - GRIP_TYPE: Gripper Type
    - GRIP_GRAB: Gripper Grab PWM
    - GRIP_RELEASE: Gripper Release PWM
    - GRIP_NEUTRAL: Neutral PWM
    - GRIP_REGRAB: Gripper Regrab interval
    - GRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID
  - GUIDED_ Parameters
    - GUIDED_P: PID Proportional Gain
    - GUIDED_I: PID Integral Gain
    - GUIDED_D: PID Derivative Gain
    - GUIDED_FF: FF FeedForward Gain
    - GUIDED_IMAX: PID Integral Maximum
    - GUIDED_FLTT: PID Target filter frequency in Hz
    - GUIDED_FLTE: PID Error filter frequency in Hz
    - GUIDED_FLTD: PID Derivative term filter frequency in Hz
    - GUIDED_SMAX: Slew rate limit
  - ICE_ Parameters
    - ICE_ENABLE: Enable ICEngine control
    - ICE_START_CHAN: Input channel for engine start
    - ICE_STARTER_TIME: Time to run starter
    - ICE_START_DELAY: Time to wait between starts
    - ICE_RPM_THRESH: RPM threshold
    - ICE_PWM_IGN_ON: PWM value for ignition on
    - ICE_PWM_IGN_OFF: PWM value for ignition off
    - ICE_PWM_STRT_ON: PWM value for starter on
    - ICE_PWM_STRT_OFF: PWM value for starter off
    - ICE_RPM_CHAN: RPM instance channel to use
    - ICE_START_PCT: Throttle percentage for engine start
    - ICE_IDLE_PCT: Throttle percentage for engine idle
    - ICE_IDLE_RPM: RPM Setpoint for Idle Governor
    - ICE_IDLE_DB: Deadband for Idle Governor
    - ICE_IDLE_SLEW: Slew Rate for idle control
    - ICE_OPTIONS: ICE options
    - ICE_STARTCHN_MIN: Input channel for engine start minimum PWM
  - INS_ Parameters
    - INS_GYROFFS_X: Gyro offsets of X axis
    - INS_GYROFFS_Y: Gyro offsets of Y axis
    - INS_GYROFFS_Z: Gyro offsets of Z axis
    - INS_GYR2OFFS_X: Gyro2 offsets of X axis
    - INS_GYR2OFFS_Y: Gyro2 offsets of Y axis
    - INS_GYR2OFFS_Z: Gyro2 offsets of Z axis
    - INS_GYR3OFFS_X: Gyro3 offsets of X axis
    - INS_GYR3OFFS_Y: Gyro3 offsets of Y axis
    - INS_GYR3OFFS_Z: Gyro3 offsets of Z axis
    - INS_ACCSCAL_X: Accelerometer scaling of X axis
    - INS_ACCSCAL_Y: Accelerometer scaling of Y axis
    - INS_ACCSCAL_Z: Accelerometer scaling of Z axis
    - INS_ACCOFFS_X: Accelerometer offsets of X axis
    - INS_ACCOFFS_Y: Accelerometer offsets of Y axis
    - INS_ACCOFFS_Z: Accelerometer offsets of Z axis
    - INS_ACC2SCAL_X: Accelerometer2 scaling of X axis
    - INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis
    - INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis
    - INS_ACC2OFFS_X: Accelerometer2 offsets of X axis
    - INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis
    - INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis
    - INS_ACC3SCAL_X: Accelerometer3 scaling of X axis
    - INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis
    - INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis
    - INS_ACC3OFFS_X: Accelerometer3 offsets of X axis
    - INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis
    - INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis
    - INS_GYRO_FILTER: Gyro filter cutoff frequency
    - INS_ACCEL_FILTER: Accel filter cutoff frequency
    - INS_USE: Use first IMU for attitude, velocity and position estimates
    - INS_USE2: Use second IMU for attitude, velocity and position estimates
    - INS_USE3: Use third IMU for attitude, velocity and position estimates
    - INS_STILL_THRESH: Stillness threshold for detecting if we are moving
    - INS_GYR_CAL: Gyro Calibration scheme
    - INS_TRIM_OPTION: Accel cal trim option
    - INS_ACC_BODYFIX: Body-fixed accelerometer
    - INS_POS1_X: IMU accelerometer X position
    - INS_POS1_Y: IMU accelerometer Y position
    - INS_POS1_Z: IMU accelerometer Z position
    - INS_POS2_X: IMU accelerometer X position
    - INS_POS2_Y: IMU accelerometer Y position
    - INS_POS2_Z: IMU accelerometer Z position
    - INS_POS3_X: IMU accelerometer X position
    - INS_POS3_Y: IMU accelerometer Y position
    - INS_POS3_Z: IMU accelerometer Z position
    - INS_GYR_ID: Gyro ID
    - INS_GYR2_ID: Gyro2 ID
    - INS_GYR3_ID: Gyro3 ID
    - INS_ACC_ID: Accelerometer ID
    - INS_ACC2_ID: Accelerometer2 ID
    - INS_ACC3_ID: Accelerometer3 ID
    - INS_FAST_SAMPLE: Fast sampling mask
    - INS_ENABLE_MASK: IMU enable mask
    - INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled
    - INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer
    - INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope
    - INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer
    - INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope
    - INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer
    - INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope
    - INS_TCAL_OPTIONS: Options for temperature calibration
  - INS_HNTCH_ Parameters
    - INS_HNTCH_ENABLE: Harmonic Notch Filter enable
    - INS_HNTCH_FREQ: Harmonic Notch Filter base frequency
    - INS_HNTCH_BW: Harmonic Notch Filter bandwidth
    - INS_HNTCH_ATT: Harmonic Notch Filter attenuation
    - INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics
    - INS_HNTCH_REF: Harmonic Notch Filter reference value
    - INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode
    - INS_HNTCH_OPTS: Harmonic Notch Filter options
  - INS_LOG_ Parameters
    - INS_LOG_BAT_CNT: sample count per batch
    - INS_LOG_BAT_MASK: Sensor Bitmask
    - INS_LOG_BAT_OPT: Batch Logging Options Mask
    - INS_LOG_BAT_LGIN: logging interval
    - INS_LOG_BAT_LGCT: logging count
  - INS_NOTCH_ Parameters
    - INS_NOTCH_ENABLE: Enable
    - INS_NOTCH_ATT: Attenuation
    - INS_NOTCH_FREQ: Frequency
    - INS_NOTCH_BW: Bandwidth
  - INS_TCAL1_ Parameters
    - INS_TCAL1_ENABLE: Enable temperature calibration
    - INS_TCAL1_TMIN: Temperature calibration min
    - INS_TCAL1_TMAX: Temperature calibration max
    - INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis
    - INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis
    - INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis
    - INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis
    - INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis
    - INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis
    - INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis
    - INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis
    - INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis
    - INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis
    - INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
    - INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
    - INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
    - INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
    - INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
    - INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
    - INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
    - INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
  - INS_TCAL2_ Parameters
    - INS_TCAL2_ENABLE: Enable temperature calibration
    - INS_TCAL2_TMIN: Temperature calibration min
    - INS_TCAL2_TMAX: Temperature calibration max
    - INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis
    - INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis
    - INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis
    - INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis
    - INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis
    - INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis
    - INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis
    - INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis
    - INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis
    - INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis
    - INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
    - INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
    - INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
    - INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
    - INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
    - INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
    - INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
    - INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
  - INS_TCAL3_ Parameters
    - INS_TCAL3_ENABLE: Enable temperature calibration
    - INS_TCAL3_TMIN: Temperature calibration min
    - INS_TCAL3_TMAX: Temperature calibration max
    - INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis
    - INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis
    - INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis
    - INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis
    - INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis
    - INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis
    - INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis
    - INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis
    - INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis
    - INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis
    - INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
    - INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
    - INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
    - INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
    - INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
    - INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
    - INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
    - INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
  - LAND_ Parameters
    - LAND_SLOPE_RCALC: Landing slope re-calc threshold
    - LAND_ABORT_DEG: Landing auto-abort slope threshold
    - LAND_PITCH_CD: Landing Pitch
    - LAND_FLARE_ALT: Landing flare altitude
    - LAND_FLARE_SEC: Landing flare time
    - LAND_PF_ALT: Landing pre-flare altitude
    - LAND_PF_SEC: Landing pre-flare time
    - LAND_PF_ARSPD: Landing pre-flare airspeed
    - LAND_THR_SLEW: Landing throttle slew rate
    - LAND_DISARMDELAY: Landing disarm delay
    - LAND_THEN_NEUTRL: Set servos to neutral after landing
    - LAND_ABORT_THR: Landing abort using throttle
    - LAND_FLAP_PERCNT: Landing flap percentage
    - LAND_OPTIONS: Landing options bitmask
    - LAND_TYPE: Auto-landing type
  - LAND_DS_ Parameters
    - LAND_DS_V_FWD: Deepstall forward velocity
    - LAND_DS_SLOPE_A: Deepstall slope a
    - LAND_DS_SLOPE_B: Deepstall slope b
    - LAND_DS_APP_EXT: Deepstall approach extension
    - LAND_DS_V_DWN: Deepstall velocity down
    - LAND_DS_SLEW_SPD: Deepstall slew speed
    - LAND_DS_ELEV_PWM: Deepstall elevator PWM
    - LAND_DS_ARSP_MAX: Deepstall enabled airspeed
    - LAND_DS_ARSP_MIN: Deepstall minimum derating airspeed
    - LAND_DS_L1: Deepstall L1 period
    - LAND_DS_L1_I: Deepstall L1 I gain
    - LAND_DS_YAW_LIM: Deepstall yaw rate limit
    - LAND_DS_L1_TCON: Deepstall L1 time constant
    - LAND_DS_P: P gain
    - LAND_DS_I: I gain
    - LAND_DS_D: D gain
    - LAND_DS_IMAX: IMax
    - LAND_DS_ABORTALT: Deepstall minimum abort altitude
    - LAND_DS_AIL_SCL: Aileron landing gain scalaing
  - LGR_ Parameters
    - LGR_STARTUP: Landing Gear Startup position
    - LGR_DEPLOY_PIN: Chassis deployment feedback pin
    - LGR_DEPLOY_POL: Chassis deployment feedback pin polarity
    - LGR_WOW_PIN: Weight on wheels feedback pin
    - LGR_WOW_POL: Weight on wheels feedback pin polarity
    - LGR_DEPLOY_ALT: Landing gear deployment altitude
    - LGR_RETRACT_ALT: Landing gear retract altitude
    - LGR_OPTIONS: Landing gear auto retract/deploy options
  - LOG Parameters
    - LOG_BACKEND_TYPE: AP_Logger Backend Storage type
    - LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes)
    - LOG_DISARMED: Enable logging while disarmed
    - LOG_REPLAY: Enable logging of information needed for Replay
    - LOG_FILE_DSRMROT: Stop logging to current file on disarm
    - LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size
    - LOG_FILE_TIMEOUT: Timeout before giving up on file writes
    - LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space
    - LOG_FILE_RATEMAX: Maximum logging rate for file backend
    - LOG_MAV_RATEMAX: Maximum logging rate for mavlink backend
    - LOG_BLK_RATEMAX: Maximum logging rate for block backend
  - MIS_ Parameters
    - MIS_TOTAL: Total mission commands
    - MIS_RESTART: Mission Restart when entering Auto mode
    - MIS_OPTIONS: Mission options bitmask
  - MNT Parameters
    - MNT_TYPE: Mount Type
    - MNT_DEFLT_MODE: Mount default operating mode
    - MNT_RETRACT_X: Mount roll angle when in retracted position
    - MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position
    - MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position
    - MNT_NEUTRAL_X: Mount roll angle when in neutral position
    - MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position
    - MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position
    - MNT_STAB_ROLL: Stabilize mount’s roll angle
    - MNT_STAB_TILT: Stabilize mount’s pitch/tilt angle
    - MNT_STAB_PAN: Stabilize mount pan/yaw angle
    - MNT_RC_IN_ROLL: roll RC input channel
    - MNT_ANGMIN_ROL: Minimum roll angle
    - MNT_ANGMAX_ROL: Maximum roll angle
    - MNT_RC_IN_TILT: tilt (pitch) RC input channel
    - MNT_ANGMIN_TIL: Minimum tilt angle
    - MNT_ANGMAX_TIL: Maximum tilt angle
    - MNT_RC_IN_PAN: pan (yaw) RC input channel
    - MNT_ANGMIN_PAN: Minimum pan angle
    - MNT_ANGMAX_PAN: Maximum pan angle
    - MNT_JSTICK_SPD: mount joystick speed
    - MNT_LEAD_RLL: Roll stabilization lead time
    - MNT_LEAD_PTCH: Pitch stabilization lead time
    - MNT2_DEFLT_MODE: Mount default operating mode
    - MNT2_RETRACT_X: Mount2 roll angle when in retracted position
    - MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position
    - MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position
    - MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position
    - MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position
    - MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position
    - MNT2_STAB_ROLL: Stabilize Mount2’s roll angle
    - MNT2_STAB_TILT: Stabilize Mount2’s pitch/tilt angle
    - MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle
    - MNT2_RC_IN_ROLL: Mount2’s roll RC input channel
    - MNT2_ANGMIN_ROL: Mount2’s minimum roll angle
    - MNT2_ANGMAX_ROL: Mount2’s maximum roll angle
    - MNT2_RC_IN_TILT: Mount2’s tilt (pitch) RC input channel
    - MNT2_ANGMIN_TIL: Mount2’s minimum tilt angle
    - MNT2_ANGMAX_TIL: Mount2’s maximum tilt angle
    - MNT2_RC_IN_PAN: Mount2’s pan (yaw) RC input channel
    - MNT2_ANGMIN_PAN: Mount2’s minimum pan angle
    - MNT2_ANGMAX_PAN: Mount2’s maximum pan angle
    - MNT2_LEAD_RLL: Mount2’s Roll stabilization lead time
    - MNT2_LEAD_PTCH: Mount2’s Pitch stabilization lead time
    - MNT2_TYPE: Mount2 Type
  - MSP Parameters
    - MSP_OSD_NCELLS: Cell count override
    - MSP_OPTIONS: MSP OSD Options
  - NAVL1_ Parameters
    - NAVL1_PERIOD: L1 control period
    - NAVL1_DAMPING: L1 control damping ratio
    - NAVL1_XTRACK_I: L1 control crosstrack integrator gain
    - NAVL1_LIM_BANK: Loiter Radius Bank Angle Limit
  - NTF_ Parameters
    - NTF_LED_BRIGHT: LED Brightness
    - NTF_BUZZ_TYPES: Buzzer Driver Types
    - NTF_LED_OVERRIDE: Specifies colour source for the RGBLed
    - NTF_DISPLAY_TYPE: Type of on-board I2C display
    - NTF_OREO_THEME: OreoLED Theme
    - NTF_BUZZ_PIN: Buzzer pin
    - NTF_LED_TYPES: LED Driver Types
    - NTF_BUZZ_ON_LVL: Buzzer-on pin logic level
    - NTF_BUZZ_VOLUME: Buzzer volume
    - NTF_LED_LEN: Serial LED String Length
  - OSD Parameters
    - OSD_TYPE: OSD type
    - OSD_CHAN: Screen switch transmitter channel
    - OSD_SW_METHOD: Screen switch method
    - OSD_OPTIONS: OSD Options
    - OSD_FONT: OSD Font
    - OSD_V_OFFSET: OSD vertical offset
    - OSD_H_OFFSET: OSD horizontal offset
    - OSD_W_RSSI: RSSI warn level (in %)
    - OSD_W_NSAT: NSAT warn level
    - OSD_W_BATVOLT: BAT_VOLT warn level
    - OSD_UNITS: Display Units
    - OSD_MSG_TIME: Message display duration in seconds
    - OSD_ARM_SCR: Arm screen
    - OSD_DSARM_SCR: Disarm screen
    - OSD_FS_SCR: Failsafe screen
    - OSD_BTN_DELAY: Button delay
    - OSD_W_TERR: Terrain warn level
    - OSD_W_AVGCELLV: AVGCELLV warn level
    - OSD_CELL_COUNT: Battery cell count
    - OSD_W_RESTVOLT: RESTVOLT warn level
  - OSD1_ Parameters
    - OSD1_ENABLE: Enable screen
    - OSD1_CHAN_MIN: Transmitter switch screen minimum pwm
    - OSD1_CHAN_MAX: Transmitter switch screen maximum pwm
    - OSD1_ALTITUDE_EN: ALTITUDE_EN
    - OSD1_ALTITUDE_X: ALTITUDE_X
    - OSD1_ALTITUDE_Y: ALTITUDE_Y
    - OSD1_BAT_VOLT_EN: BATVOLT_EN
    - OSD1_BAT_VOLT_X: BATVOLT_X
    - OSD1_BAT_VOLT_Y: BATVOLT_Y
    - OSD1_RSSI_EN: RSSI_EN
    - OSD1_RSSI_X: RSSI_X
    - OSD1_RSSI_Y: RSSI_Y
    - OSD1_CURRENT_EN: CURRENT_EN
    - OSD1_CURRENT_X: CURRENT_X
    - OSD1_CURRENT_Y: CURRENT_Y
    - OSD1_BATUSED_EN: BATUSED_EN
    - OSD1_BATUSED_X: BATUSED_X
    - OSD1_BATUSED_Y: BATUSED_Y
    - OSD1_SATS_EN: SATS_EN
    - OSD1_SATS_X: SATS_X
    - OSD1_SATS_Y: SATS_Y
    - OSD1_FLTMODE_EN: FLTMODE_EN
    - OSD1_FLTMODE_X: FLTMODE_X
    - OSD1_FLTMODE_Y: FLTMODE_Y
    - OSD1_MESSAGE_EN: MESSAGE_EN
    - OSD1_MESSAGE_X: MESSAGE_X
    - OSD1_MESSAGE_Y: MESSAGE_Y
    - OSD1_GSPEED_EN: GSPEED_EN
    - OSD1_GSPEED_X: GSPEED_X
    - OSD1_GSPEED_Y: GSPEED_Y
    - OSD1_HORIZON_EN: HORIZON_EN
    - OSD1_HORIZON_X: HORIZON_X
    - OSD1_HORIZON_Y: HORIZON_Y
    - OSD1_HOME_EN: HOME_EN
    - OSD1_HOME_X: HOME_X
    - OSD1_HOME_Y: HOME_Y
    - OSD1_HEADING_EN: HEADING_EN
    - OSD1_HEADING_X: HEADING_X
    - OSD1_HEADING_Y: HEADING_Y
    - OSD1_THROTTLE_EN: THROTTLE_EN
    - OSD1_THROTTLE_X: THROTTLE_X
    - OSD1_THROTTLE_Y: THROTTLE_Y
    - OSD1_COMPASS_EN: COMPASS_EN
    - OSD1_COMPASS_X: COMPASS_X
    - OSD1_COMPASS_Y: COMPASS_Y
    - OSD1_WIND_EN: WIND_EN
    - OSD1_WIND_X: WIND_X
    - OSD1_WIND_Y: WIND_Y
    - OSD1_ASPEED_EN: ASPEED_EN
    - OSD1_ASPEED_X: ASPEED_X
    - OSD1_ASPEED_Y: ASPEED_Y
    - OSD1_VSPEED_EN: VSPEED_EN
    - OSD1_VSPEED_X: VSPEED_X
    - OSD1_VSPEED_Y: VSPEED_Y
    - OSD1_ESCTEMP_EN: ESCTEMP_EN
    - OSD1_ESCTEMP_X: ESCTEMP_X
    - OSD1_ESCTEMP_Y: ESCTEMP_Y
    - OSD1_ESCRPM_EN: ESCRPM_EN
    - OSD1_ESCRPM_X: ESCRPM_X
    - OSD1_ESCRPM_Y: ESCRPM_Y
    - OSD1_ESCAMPS_EN: ESCAMPS_EN
    - OSD1_ESCAMPS_X: ESCAMPS_X
    - OSD1_ESCAMPS_Y: ESCAMPS_Y
    - OSD1_GPSLAT_EN: GPSLAT_EN
    - OSD1_GPSLAT_X: GPSLAT_X
    - OSD1_GPSLAT_Y: GPSLAT_Y
    - OSD1_GPSLONG_EN: GPSLONG_EN
    - OSD1_GPSLONG_X: GPSLONG_X
    - OSD1_GPSLONG_Y: GPSLONG_Y
    - OSD1_ROLL_EN: ROLL_EN
    - OSD1_ROLL_X: ROLL_X
    - OSD1_ROLL_Y: ROLL_Y
    - OSD1_PITCH_EN: PITCH_EN
    - OSD1_PITCH_X: PITCH_X
    - OSD1_PITCH_Y: PITCH_Y
    - OSD1_TEMP_EN: TEMP_EN
    - OSD1_TEMP_X: TEMP_X
    - OSD1_TEMP_Y: TEMP_Y
    - OSD1_HDOP_EN: HDOP_EN
    - OSD1_HDOP_X: HDOP_X
    - OSD1_HDOP_Y: HDOP_Y
    - OSD1_WAYPOINT_EN: WAYPOINT_EN
    - OSD1_WAYPOINT_X: WAYPOINT_X
    - OSD1_WAYPOINT_Y: WAYPOINT_Y
    - OSD1_XTRACK_EN: XTRACK_EN
    - OSD1_XTRACK_X: XTRACK_X
    - OSD1_XTRACK_Y: XTRACK_Y
    - OSD1_DIST_EN: DIST_EN
    - OSD1_DIST_X: DIST_X
    - OSD1_DIST_Y: DIST_Y
    - OSD1_STATS_EN: STATS_EN
    - OSD1_STATS_X: STATS_X
    - OSD1_STATS_Y: STATS_Y
    - OSD1_FLTIME_EN: FLTIME_EN
    - OSD1_FLTIME_X: FLTIME_X
    - OSD1_FLTIME_Y: FLTIME_Y
    - OSD1_CLIMBEFF_EN: CLIMBEFF_EN
    - OSD1_CLIMBEFF_X: CLIMBEFF_X
    - OSD1_CLIMBEFF_Y: CLIMBEFF_Y
    - OSD1_EFF_EN: EFF_EN
    - OSD1_EFF_X: EFF_X
    - OSD1_EFF_Y: EFF_Y
    - OSD1_BTEMP_EN: BTEMP_EN
    - OSD1_BTEMP_X: BTEMP_X
    - OSD1_BTEMP_Y: BTEMP_Y
    - OSD1_ATEMP_EN: ATEMP_EN
    - OSD1_ATEMP_X: ATEMP_X
    - OSD1_ATEMP_Y: ATEMP_Y
    - OSD1_BAT2_VLT_EN: BAT2VLT_EN
    - OSD1_BAT2_VLT_X: BAT2VLT_X
    - OSD1_BAT2_VLT_Y: BAT2VLT_Y
    - OSD1_BAT2USED_EN: BAT2USED_EN
    - OSD1_BAT2USED_X: BAT2USED_X
    - OSD1_BAT2USED_Y: BAT2USED_Y
    - OSD1_ASPD2_EN: ASPD2_EN
    - OSD1_ASPD2_X: ASPD2_X
    - OSD1_ASPD2_Y: ASPD2_Y
    - OSD1_ASPD1_EN: ASPD1_EN
    - OSD1_ASPD1_X: ASPD1_X
    - OSD1_ASPD1_Y: ASPD1_Y
    - OSD1_CLK_EN: CLK_EN
    - OSD1_CLK_X: CLK_X
    - OSD1_CLK_Y: CLK_Y
    - OSD1_SIDEBARS_EN: SIDEBARS_EN
    - OSD1_SIDEBARS_X: SIDEBARS_X
    - OSD1_SIDEBARS_Y: SIDEBARS_Y
    - OSD1_CRSSHAIR_EN: CRSSHAIR_EN
    - OSD1_CRSSHAIR_X: CRSSHAIR_X
    - OSD1_CRSSHAIR_Y: CRSSHAIR_Y
    - OSD1_HOMEDIST_EN: HOMEDIST_EN
    - OSD1_HOMEDIST_X: HOMEDIST_X
    - OSD1_HOMEDIST_Y: HOMEDIST_Y
    - OSD1_HOMEDIR_EN: HOMEDIR_EN
    - OSD1_HOMEDIR_X: HOMEDIR_X
    - OSD1_HOMEDIR_Y: HOMEDIR_Y
    - OSD1_POWER_EN: POWER_EN
    - OSD1_POWER_X: POWER_X
    - OSD1_POWER_Y: POWER_Y
    - OSD1_CELLVOLT_EN: CELL_VOLT_EN
    - OSD1_CELLVOLT_X: CELL_VOLT_X
    - OSD1_CELLVOLT_Y: CELL_VOLT_Y
    - OSD1_BATTBAR_EN: BATT_BAR_EN
    - OSD1_BATTBAR_X: BATT_BAR_X
    - OSD1_BATTBAR_Y: BATT_BAR_Y
    - OSD1_ARMING_EN: ARMING_EN
    - OSD1_ARMING_X: ARMING_X
    - OSD1_ARMING_Y: ARMING_Y
    - OSD1_PLUSCODE_EN: PLUSCODE_EN
    - OSD1_PLUSCODE_X: PLUSCODE_X
    - OSD1_PLUSCODE_Y: PLUSCODE_Y
    - OSD1_CALLSIGN_EN: CALLSIGN_EN
    - OSD1_CALLSIGN_X: CALLSIGN_X
    - OSD1_CALLSIGN_Y: CALLSIGN_Y
    - OSD1_CURRENT2_EN: CURRENT2_EN
    - OSD1_CURRENT2_X: CURRENT2_X
    - OSD1_CURRENT2_Y: CURRENT2_Y
    - OSD1_VTX_PWR_EN: VTX_PWR_EN
    - OSD1_VTX_PWR_X: VTX_PWR_X
    - OSD1_VTX_PWR_Y: VTX_PWR_Y
    - OSD1_TER_HGT_EN: TER_HGT_EN
    - OSD1_TER_HGT_X: TER_HGT_X
    - OSD1_TER_HGT_Y: TER_HGT_Y
    - OSD1_AVGCELLV_EN: AVGCELLV_EN
    - OSD1_AVGCELLV_X: AVGCELLV_X
    - OSD1_AVGCELLV_Y: AVGCELLV_Y
    - OSD1_RESTVOLT_EN: RESTVOLT_EN
    - OSD1_RESTVOLT_X: RESTVOLT_X
    - OSD1_RESTVOLT_Y: RESTVOLT_Y
    - OSD1_FENCE_EN: FENCE_EN
    - OSD1_FENCE_X: FENCE_X
    - OSD1_FENCE_Y: FENCE_Y
    - OSD1_RNGF_EN: RNGF_EN
    - OSD1_RNGF_X: RNGF_X
    - OSD1_RNGF_Y: RNGF_Y
    - OSD1_LINK_Q_EN: LINK_Q_EN
    - OSD1_LINK_Q_X: LINK_Q_X
    - OSD1_LINK_Q_Y: LINK_Q_Y
  - OSD2_ Parameters
    - OSD2_ENABLE: Enable screen
    - OSD2_CHAN_MIN: Transmitter switch screen minimum pwm
    - OSD2_CHAN_MAX: Transmitter switch screen maximum pwm
    - OSD2_ALTITUDE_EN: ALTITUDE_EN
    - OSD2_ALTITUDE_X: ALTITUDE_X
    - OSD2_ALTITUDE_Y: ALTITUDE_Y
    - OSD2_BAT_VOLT_EN: BATVOLT_EN
    - OSD2_BAT_VOLT_X: BATVOLT_X
    - OSD2_BAT_VOLT_Y: BATVOLT_Y
    - OSD2_RSSI_EN: RSSI_EN
    - OSD2_RSSI_X: RSSI_X
    - OSD2_RSSI_Y: RSSI_Y
    - OSD2_CURRENT_EN: CURRENT_EN
    - OSD2_CURRENT_X: CURRENT_X
    - OSD2_CURRENT_Y: CURRENT_Y
    - OSD2_BATUSED_EN: BATUSED_EN
    - OSD2_BATUSED_X: BATUSED_X
    - OSD2_BATUSED_Y: BATUSED_Y
    - OSD2_SATS_EN: SATS_EN
    - OSD2_SATS_X: SATS_X
    - OSD2_SATS_Y: SATS_Y
    - OSD2_FLTMODE_EN: FLTMODE_EN
    - OSD2_FLTMODE_X: FLTMODE_X
    - OSD2_FLTMODE_Y: FLTMODE_Y
    - OSD2_MESSAGE_EN: MESSAGE_EN
    - OSD2_MESSAGE_X: MESSAGE_X
    - OSD2_MESSAGE_Y: MESSAGE_Y
    - OSD2_GSPEED_EN: GSPEED_EN
    - OSD2_GSPEED_X: GSPEED_X
    - OSD2_GSPEED_Y: GSPEED_Y
    - OSD2_HORIZON_EN: HORIZON_EN
    - OSD2_HORIZON_X: HORIZON_X
    - OSD2_HORIZON_Y: HORIZON_Y
    - OSD2_HOME_EN: HOME_EN
    - OSD2_HOME_X: HOME_X
    - OSD2_HOME_Y: HOME_Y
    - OSD2_HEADING_EN: HEADING_EN
    - OSD2_HEADING_X: HEADING_X
    - OSD2_HEADING_Y: HEADING_Y
    - OSD2_THROTTLE_EN: THROTTLE_EN
    - OSD2_THROTTLE_X: THROTTLE_X
    - OSD2_THROTTLE_Y: THROTTLE_Y
    - OSD2_COMPASS_EN: COMPASS_EN
    - OSD2_COMPASS_X: COMPASS_X
    - OSD2_COMPASS_Y: COMPASS_Y
    - OSD2_WIND_EN: WIND_EN
    - OSD2_WIND_X: WIND_X
    - OSD2_WIND_Y: WIND_Y
    - OSD2_ASPEED_EN: ASPEED_EN
    - OSD2_ASPEED_X: ASPEED_X
    - OSD2_ASPEED_Y: ASPEED_Y
    - OSD2_VSPEED_EN: VSPEED_EN
    - OSD2_VSPEED_X: VSPEED_X
    - OSD2_VSPEED_Y: VSPEED_Y
    - OSD2_ESCTEMP_EN: ESCTEMP_EN
    - OSD2_ESCTEMP_X: ESCTEMP_X
    - OSD2_ESCTEMP_Y: ESCTEMP_Y
    - OSD2_ESCRPM_EN: ESCRPM_EN
    - OSD2_ESCRPM_X: ESCRPM_X
    - OSD2_ESCRPM_Y: ESCRPM_Y
    - OSD2_ESCAMPS_EN: ESCAMPS_EN
    - OSD2_ESCAMPS_X: ESCAMPS_X
    - OSD2_ESCAMPS_Y: ESCAMPS_Y
    - OSD2_GPSLAT_EN: GPSLAT_EN
    - OSD2_GPSLAT_X: GPSLAT_X
    - OSD2_GPSLAT_Y: GPSLAT_Y
    - OSD2_GPSLONG_EN: GPSLONG_EN
    - OSD2_GPSLONG_X: GPSLONG_X
    - OSD2_GPSLONG_Y: GPSLONG_Y
    - OSD2_ROLL_EN: ROLL_EN
    - OSD2_ROLL_X: ROLL_X
    - OSD2_ROLL_Y: ROLL_Y
    - OSD2_PITCH_EN: PITCH_EN
    - OSD2_PITCH_X: PITCH_X
    - OSD2_PITCH_Y: PITCH_Y
    - OSD2_TEMP_EN: TEMP_EN
    - OSD2_TEMP_X: TEMP_X
    - OSD2_TEMP_Y: TEMP_Y
    - OSD2_HDOP_EN: HDOP_EN
    - OSD2_HDOP_X: HDOP_X
    - OSD2_HDOP_Y: HDOP_Y
    - OSD2_WAYPOINT_EN: WAYPOINT_EN
    - OSD2_WAYPOINT_X: WAYPOINT_X
    - OSD2_WAYPOINT_Y: WAYPOINT_Y
    - OSD2_XTRACK_EN: XTRACK_EN
    - OSD2_XTRACK_X: XTRACK_X
    - OSD2_XTRACK_Y: XTRACK_Y
    - OSD2_DIST_EN: DIST_EN
    - OSD2_DIST_X: DIST_X
    - OSD2_DIST_Y: DIST_Y
    - OSD2_STATS_EN: STATS_EN
    - OSD2_STATS_X: STATS_X
    - OSD2_STATS_Y: STATS_Y
    - OSD2_FLTIME_EN: FLTIME_EN
    - OSD2_FLTIME_X: FLTIME_X
    - OSD2_FLTIME_Y: FLTIME_Y
    - OSD2_CLIMBEFF_EN: CLIMBEFF_EN
    - OSD2_CLIMBEFF_X: CLIMBEFF_X
    - OSD2_CLIMBEFF_Y: CLIMBEFF_Y
    - OSD2_EFF_EN: EFF_EN
    - OSD2_EFF_X: EFF_X
    - OSD2_EFF_Y: EFF_Y
    - OSD2_BTEMP_EN: BTEMP_EN
    - OSD2_BTEMP_X: BTEMP_X
    - OSD2_BTEMP_Y: BTEMP_Y
    - OSD2_ATEMP_EN: ATEMP_EN
    - OSD2_ATEMP_X: ATEMP_X
    - OSD2_ATEMP_Y: ATEMP_Y
    - OSD2_BAT2_VLT_EN: BAT2VLT_EN
    - OSD2_BAT2_VLT_X: BAT2VLT_X
    - OSD2_BAT2_VLT_Y: BAT2VLT_Y
    - OSD2_BAT2USED_EN: BAT2USED_EN
    - OSD2_BAT2USED_X: BAT2USED_X
    - OSD2_BAT2USED_Y: BAT2USED_Y
    - OSD2_ASPD2_EN: ASPD2_EN
    - OSD2_ASPD2_X: ASPD2_X
    - OSD2_ASPD2_Y: ASPD2_Y
    - OSD2_ASPD1_EN: ASPD1_EN
    - OSD2_ASPD1_X: ASPD1_X
    - OSD2_ASPD1_Y: ASPD1_Y
    - OSD2_CLK_EN: CLK_EN
    - OSD2_CLK_X: CLK_X
    - OSD2_CLK_Y: CLK_Y
    - OSD2_SIDEBARS_EN: SIDEBARS_EN
    - OSD2_SIDEBARS_X: SIDEBARS_X
    - OSD2_SIDEBARS_Y: SIDEBARS_Y
    - OSD2_CRSSHAIR_EN: CRSSHAIR_EN
    - OSD2_CRSSHAIR_X: CRSSHAIR_X
    - OSD2_CRSSHAIR_Y: CRSSHAIR_Y
    - OSD2_HOMEDIST_EN: HOMEDIST_EN
    - OSD2_HOMEDIST_X: HOMEDIST_X
    - OSD2_HOMEDIST_Y: HOMEDIST_Y
    - OSD2_HOMEDIR_EN: HOMEDIR_EN
    - OSD2_HOMEDIR_X: HOMEDIR_X
    - OSD2_HOMEDIR_Y: HOMEDIR_Y
    - OSD2_POWER_EN: POWER_EN
    - OSD2_POWER_X: POWER_X
    - OSD2_POWER_Y: POWER_Y
    - OSD2_CELLVOLT_EN: CELL_VOLT_EN
    - OSD2_CELLVOLT_X: CELL_VOLT_X
    - OSD2_CELLVOLT_Y: CELL_VOLT_Y
    - OSD2_BATTBAR_EN: BATT_BAR_EN
    - OSD2_BATTBAR_X: BATT_BAR_X
    - OSD2_BATTBAR_Y: BATT_BAR_Y
    - OSD2_ARMING_EN: ARMING_EN
    - OSD2_ARMING_X: ARMING_X
    - OSD2_ARMING_Y: ARMING_Y
    - OSD2_PLUSCODE_EN: PLUSCODE_EN
    - OSD2_PLUSCODE_X: PLUSCODE_X
    - OSD2_PLUSCODE_Y: PLUSCODE_Y
    - OSD2_CALLSIGN_EN: CALLSIGN_EN
    - OSD2_CALLSIGN_X: CALLSIGN_X
    - OSD2_CALLSIGN_Y: CALLSIGN_Y
    - OSD2_CURRENT2_EN: CURRENT2_EN
    - OSD2_CURRENT2_X: CURRENT2_X
    - OSD2_CURRENT2_Y: CURRENT2_Y
    - OSD2_VTX_PWR_EN: VTX_PWR_EN
    - OSD2_VTX_PWR_X: VTX_PWR_X
    - OSD2_VTX_PWR_Y: VTX_PWR_Y
    - OSD2_TER_HGT_EN: TER_HGT_EN
    - OSD2_TER_HGT_X: TER_HGT_X
    - OSD2_TER_HGT_Y: TER_HGT_Y
    - OSD2_AVGCELLV_EN: AVGCELLV_EN
    - OSD2_AVGCELLV_X: AVGCELLV_X
    - OSD2_AVGCELLV_Y: AVGCELLV_Y
    - OSD2_RESTVOLT_EN: RESTVOLT_EN
    - OSD2_RESTVOLT_X: RESTVOLT_X
    - OSD2_RESTVOLT_Y: RESTVOLT_Y
    - OSD2_FENCE_EN: FENCE_EN
    - OSD2_FENCE_X: FENCE_X
    - OSD2_FENCE_Y: FENCE_Y
    - OSD2_RNGF_EN: RNGF_EN
    - OSD2_RNGF_X: RNGF_X
    - OSD2_RNGF_Y: RNGF_Y
    - OSD2_LINK_Q_EN: LINK_Q_EN
    - OSD2_LINK_Q_X: LINK_Q_X
    - OSD2_LINK_Q_Y: LINK_Q_Y
  - OSD3_ Parameters
    - OSD3_ENABLE: Enable screen
    - OSD3_CHAN_MIN: Transmitter switch screen minimum pwm
    - OSD3_CHAN_MAX: Transmitter switch screen maximum pwm
    - OSD3_ALTITUDE_EN: ALTITUDE_EN
    - OSD3_ALTITUDE_X: ALTITUDE_X
    - OSD3_ALTITUDE_Y: ALTITUDE_Y
    - OSD3_BAT_VOLT_EN: BATVOLT_EN
    - OSD3_BAT_VOLT_X: BATVOLT_X
    - OSD3_BAT_VOLT_Y: BATVOLT_Y
    - OSD3_RSSI_EN: RSSI_EN
    - OSD3_RSSI_X: RSSI_X
    - OSD3_RSSI_Y: RSSI_Y
    - OSD3_CURRENT_EN: CURRENT_EN
    - OSD3_CURRENT_X: CURRENT_X
    - OSD3_CURRENT_Y: CURRENT_Y
    - OSD3_BATUSED_EN: BATUSED_EN
    - OSD3_BATUSED_X: BATUSED_X
    - OSD3_BATUSED_Y: BATUSED_Y
    - OSD3_SATS_EN: SATS_EN
    - OSD3_SATS_X: SATS_X
    - OSD3_SATS_Y: SATS_Y
    - OSD3_FLTMODE_EN: FLTMODE_EN
    - OSD3_FLTMODE_X: FLTMODE_X
    - OSD3_FLTMODE_Y: FLTMODE_Y
    - OSD3_MESSAGE_EN: MESSAGE_EN
    - OSD3_MESSAGE_X: MESSAGE_X
    - OSD3_MESSAGE_Y: MESSAGE_Y
    - OSD3_GSPEED_EN: GSPEED_EN
    - OSD3_GSPEED_X: GSPEED_X
    - OSD3_GSPEED_Y: GSPEED_Y
    - OSD3_HORIZON_EN: HORIZON_EN
    - OSD3_HORIZON_X: HORIZON_X
    - OSD3_HORIZON_Y: HORIZON_Y
    - OSD3_HOME_EN: HOME_EN
    - OSD3_HOME_X: HOME_X
    - OSD3_HOME_Y: HOME_Y
    - OSD3_HEADING_EN: HEADING_EN
    - OSD3_HEADING_X: HEADING_X
    - OSD3_HEADING_Y: HEADING_Y
    - OSD3_THROTTLE_EN: THROTTLE_EN
    - OSD3_THROTTLE_X: THROTTLE_X
    - OSD3_THROTTLE_Y: THROTTLE_Y
    - OSD3_COMPASS_EN: COMPASS_EN
    - OSD3_COMPASS_X: COMPASS_X
    - OSD3_COMPASS_Y: COMPASS_Y
    - OSD3_WIND_EN: WIND_EN
    - OSD3_WIND_X: WIND_X
    - OSD3_WIND_Y: WIND_Y
    - OSD3_ASPEED_EN: ASPEED_EN
    - OSD3_ASPEED_X: ASPEED_X
    - OSD3_ASPEED_Y: ASPEED_Y
    - OSD3_VSPEED_EN: VSPEED_EN
    - OSD3_VSPEED_X: VSPEED_X
    - OSD3_VSPEED_Y: VSPEED_Y
    - OSD3_ESCTEMP_EN: ESCTEMP_EN
    - OSD3_ESCTEMP_X: ESCTEMP_X
    - OSD3_ESCTEMP_Y: ESCTEMP_Y
    - OSD3_ESCRPM_EN: ESCRPM_EN
    - OSD3_ESCRPM_X: ESCRPM_X
    - OSD3_ESCRPM_Y: ESCRPM_Y
    - OSD3_ESCAMPS_EN: ESCAMPS_EN
    - OSD3_ESCAMPS_X: ESCAMPS_X
    - OSD3_ESCAMPS_Y: ESCAMPS_Y
    - OSD3_GPSLAT_EN: GPSLAT_EN
    - OSD3_GPSLAT_X: GPSLAT_X
    - OSD3_GPSLAT_Y: GPSLAT_Y
    - OSD3_GPSLONG_EN: GPSLONG_EN
    - OSD3_GPSLONG_X: GPSLONG_X
    - OSD3_GPSLONG_Y: GPSLONG_Y
    - OSD3_ROLL_EN: ROLL_EN
    - OSD3_ROLL_X: ROLL_X
    - OSD3_ROLL_Y: ROLL_Y
    - OSD3_PITCH_EN: PITCH_EN
    - OSD3_PITCH_X: PITCH_X
    - OSD3_PITCH_Y: PITCH_Y
    - OSD3_TEMP_EN: TEMP_EN
    - OSD3_TEMP_X: TEMP_X
    - OSD3_TEMP_Y: TEMP_Y
    - OSD3_HDOP_EN: HDOP_EN
    - OSD3_HDOP_X: HDOP_X
    - OSD3_HDOP_Y: HDOP_Y
    - OSD3_WAYPOINT_EN: WAYPOINT_EN
    - OSD3_WAYPOINT_X: WAYPOINT_X
    - OSD3_WAYPOINT_Y: WAYPOINT_Y
    - OSD3_XTRACK_EN: XTRACK_EN
    - OSD3_XTRACK_X: XTRACK_X
    - OSD3_XTRACK_Y: XTRACK_Y
    - OSD3_DIST_EN: DIST_EN
    - OSD3_DIST_X: DIST_X
    - OSD3_DIST_Y: DIST_Y
    - OSD3_STATS_EN: STATS_EN
    - OSD3_STATS_X: STATS_X
    - OSD3_STATS_Y: STATS_Y
    - OSD3_FLTIME_EN: FLTIME_EN
    - OSD3_FLTIME_X: FLTIME_X
    - OSD3_FLTIME_Y: FLTIME_Y
    - OSD3_CLIMBEFF_EN: CLIMBEFF_EN
    - OSD3_CLIMBEFF_X: CLIMBEFF_X
    - OSD3_CLIMBEFF_Y: CLIMBEFF_Y
    - OSD3_EFF_EN: EFF_EN
    - OSD3_EFF_X: EFF_X
    - OSD3_EFF_Y: EFF_Y
    - OSD3_BTEMP_EN: BTEMP_EN
    - OSD3_BTEMP_X: BTEMP_X
    - OSD3_BTEMP_Y: BTEMP_Y
    - OSD3_ATEMP_EN: ATEMP_EN
    - OSD3_ATEMP_X: ATEMP_X
    - OSD3_ATEMP_Y: ATEMP_Y
    - OSD3_BAT2_VLT_EN: BAT2VLT_EN
    - OSD3_BAT2_VLT_X: BAT2VLT_X
    - OSD3_BAT2_VLT_Y: BAT2VLT_Y
    - OSD3_BAT2USED_EN: BAT2USED_EN
    - OSD3_BAT2USED_X: BAT2USED_X
    - OSD3_BAT2USED_Y: BAT2USED_Y
    - OSD3_ASPD2_EN: ASPD2_EN
    - OSD3_ASPD2_X: ASPD2_X
    - OSD3_ASPD2_Y: ASPD2_Y
    - OSD3_ASPD1_EN: ASPD1_EN
    - OSD3_ASPD1_X: ASPD1_X
    - OSD3_ASPD1_Y: ASPD1_Y
    - OSD3_CLK_EN: CLK_EN
    - OSD3_CLK_X: CLK_X
    - OSD3_CLK_Y: CLK_Y
    - OSD3_SIDEBARS_EN: SIDEBARS_EN
    - OSD3_SIDEBARS_X: SIDEBARS_X
    - OSD3_SIDEBARS_Y: SIDEBARS_Y
    - OSD3_CRSSHAIR_EN: CRSSHAIR_EN
    - OSD3_CRSSHAIR_X: CRSSHAIR_X
    - OSD3_CRSSHAIR_Y: CRSSHAIR_Y
    - OSD3_HOMEDIST_EN: HOMEDIST_EN
    - OSD3_HOMEDIST_X: HOMEDIST_X
    - OSD3_HOMEDIST_Y: HOMEDIST_Y
    - OSD3_HOMEDIR_EN: HOMEDIR_EN
    - OSD3_HOMEDIR_X: HOMEDIR_X
    - OSD3_HOMEDIR_Y: HOMEDIR_Y
    - OSD3_POWER_EN: POWER_EN
    - OSD3_POWER_X: POWER_X
    - OSD3_POWER_Y: POWER_Y
    - OSD3_CELLVOLT_EN: CELL_VOLT_EN
    - OSD3_CELLVOLT_X: CELL_VOLT_X
    - OSD3_CELLVOLT_Y: CELL_VOLT_Y
    - OSD3_BATTBAR_EN: BATT_BAR_EN
    - OSD3_BATTBAR_X: BATT_BAR_X
    - OSD3_BATTBAR_Y: BATT_BAR_Y
    - OSD3_ARMING_EN: ARMING_EN
    - OSD3_ARMING_X: ARMING_X
    - OSD3_ARMING_Y: ARMING_Y
    - OSD3_PLUSCODE_EN: PLUSCODE_EN
    - OSD3_PLUSCODE_X: PLUSCODE_X
    - OSD3_PLUSCODE_Y: PLUSCODE_Y
    - OSD3_CALLSIGN_EN: CALLSIGN_EN
    - OSD3_CALLSIGN_X: CALLSIGN_X
    - OSD3_CALLSIGN_Y: CALLSIGN_Y
    - OSD3_CURRENT2_EN: CURRENT2_EN
    - OSD3_CURRENT2_X: CURRENT2_X
    - OSD3_CURRENT2_Y: CURRENT2_Y
    - OSD3_VTX_PWR_EN: VTX_PWR_EN
    - OSD3_VTX_PWR_X: VTX_PWR_X
    - OSD3_VTX_PWR_Y: VTX_PWR_Y
    - OSD3_TER_HGT_EN: TER_HGT_EN
    - OSD3_TER_HGT_X: TER_HGT_X
    - OSD3_TER_HGT_Y: TER_HGT_Y
    - OSD3_AVGCELLV_EN: AVGCELLV_EN
    - OSD3_AVGCELLV_X: AVGCELLV_X
    - OSD3_AVGCELLV_Y: AVGCELLV_Y
    - OSD3_RESTVOLT_EN: RESTVOLT_EN
    - OSD3_RESTVOLT_X: RESTVOLT_X
    - OSD3_RESTVOLT_Y: RESTVOLT_Y
    - OSD3_FENCE_EN: FENCE_EN
    - OSD3_FENCE_X: FENCE_X
    - OSD3_FENCE_Y: FENCE_Y
    - OSD3_RNGF_EN: RNGF_EN
    - OSD3_RNGF_X: RNGF_X
    - OSD3_RNGF_Y: RNGF_Y
    - OSD3_LINK_Q_EN: LINK_Q_EN
    - OSD3_LINK_Q_X: LINK_Q_X
    - OSD3_LINK_Q_Y: LINK_Q_Y
  - OSD4_ Parameters
    - OSD4_ENABLE: Enable screen
    - OSD4_CHAN_MIN: Transmitter switch screen minimum pwm
    - OSD4_CHAN_MAX: Transmitter switch screen maximum pwm
    - OSD4_ALTITUDE_EN: ALTITUDE_EN
    - OSD4_ALTITUDE_X: ALTITUDE_X
    - OSD4_ALTITUDE_Y: ALTITUDE_Y
    - OSD4_BAT_VOLT_EN: BATVOLT_EN
    - OSD4_BAT_VOLT_X: BATVOLT_X
    - OSD4_BAT_VOLT_Y: BATVOLT_Y
    - OSD4_RSSI_EN: RSSI_EN
    - OSD4_RSSI_X: RSSI_X
    - OSD4_RSSI_Y: RSSI_Y
    - OSD4_CURRENT_EN: CURRENT_EN
    - OSD4_CURRENT_X: CURRENT_X
    - OSD4_CURRENT_Y: CURRENT_Y
    - OSD4_BATUSED_EN: BATUSED_EN
    - OSD4_BATUSED_X: BATUSED_X
    - OSD4_BATUSED_Y: BATUSED_Y
    - OSD4_SATS_EN: SATS_EN
    - OSD4_SATS_X: SATS_X
    - OSD4_SATS_Y: SATS_Y
    - OSD4_FLTMODE_EN: FLTMODE_EN
    - OSD4_FLTMODE_X: FLTMODE_X
    - OSD4_FLTMODE_Y: FLTMODE_Y
    - OSD4_MESSAGE_EN: MESSAGE_EN
    - OSD4_MESSAGE_X: MESSAGE_X
    - OSD4_MESSAGE_Y: MESSAGE_Y
    - OSD4_GSPEED_EN: GSPEED_EN
    - OSD4_GSPEED_X: GSPEED_X
    - OSD4_GSPEED_Y: GSPEED_Y
    - OSD4_HORIZON_EN: HORIZON_EN
    - OSD4_HORIZON_X: HORIZON_X
    - OSD4_HORIZON_Y: HORIZON_Y
    - OSD4_HOME_EN: HOME_EN
    - OSD4_HOME_X: HOME_X
    - OSD4_HOME_Y: HOME_Y
    - OSD4_HEADING_EN: HEADING_EN
    - OSD4_HEADING_X: HEADING_X
    - OSD4_HEADING_Y: HEADING_Y
    - OSD4_THROTTLE_EN: THROTTLE_EN
    - OSD4_THROTTLE_X: THROTTLE_X
    - OSD4_THROTTLE_Y: THROTTLE_Y
    - OSD4_COMPASS_EN: COMPASS_EN
    - OSD4_COMPASS_X: COMPASS_X
    - OSD4_COMPASS_Y: COMPASS_Y
    - OSD4_WIND_EN: WIND_EN
    - OSD4_WIND_X: WIND_X
    - OSD4_WIND_Y: WIND_Y
    - OSD4_ASPEED_EN: ASPEED_EN
    - OSD4_ASPEED_X: ASPEED_X
    - OSD4_ASPEED_Y: ASPEED_Y
    - OSD4_VSPEED_EN: VSPEED_EN
    - OSD4_VSPEED_X: VSPEED_X
    - OSD4_VSPEED_Y: VSPEED_Y
    - OSD4_ESCTEMP_EN: ESCTEMP_EN
    - OSD4_ESCTEMP_X: ESCTEMP_X
    - OSD4_ESCTEMP_Y: ESCTEMP_Y
    - OSD4_ESCRPM_EN: ESCRPM_EN
    - OSD4_ESCRPM_X: ESCRPM_X
    - OSD4_ESCRPM_Y: ESCRPM_Y
    - OSD4_ESCAMPS_EN: ESCAMPS_EN
    - OSD4_ESCAMPS_X: ESCAMPS_X
    - OSD4_ESCAMPS_Y: ESCAMPS_Y
    - OSD4_GPSLAT_EN: GPSLAT_EN
    - OSD4_GPSLAT_X: GPSLAT_X
    - OSD4_GPSLAT_Y: GPSLAT_Y
    - OSD4_GPSLONG_EN: GPSLONG_EN
    - OSD4_GPSLONG_X: GPSLONG_X
    - OSD4_GPSLONG_Y: GPSLONG_Y
    - OSD4_ROLL_EN: ROLL_EN
    - OSD4_ROLL_X: ROLL_X
    - OSD4_ROLL_Y: ROLL_Y
    - OSD4_PITCH_EN: PITCH_EN
    - OSD4_PITCH_X: PITCH_X
    - OSD4_PITCH_Y: PITCH_Y
    - OSD4_TEMP_EN: TEMP_EN
    - OSD4_TEMP_X: TEMP_X
    - OSD4_TEMP_Y: TEMP_Y
    - OSD4_HDOP_EN: HDOP_EN
    - OSD4_HDOP_X: HDOP_X
    - OSD4_HDOP_Y: HDOP_Y
    - OSD4_WAYPOINT_EN: WAYPOINT_EN
    - OSD4_WAYPOINT_X: WAYPOINT_X
    - OSD4_WAYPOINT_Y: WAYPOINT_Y
    - OSD4_XTRACK_EN: XTRACK_EN
    - OSD4_XTRACK_X: XTRACK_X
    - OSD4_XTRACK_Y: XTRACK_Y
    - OSD4_DIST_EN: DIST_EN
    - OSD4_DIST_X: DIST_X
    - OSD4_DIST_Y: DIST_Y
    - OSD4_STATS_EN: STATS_EN
    - OSD4_STATS_X: STATS_X
    - OSD4_STATS_Y: STATS_Y
    - OSD4_FLTIME_EN: FLTIME_EN
    - OSD4_FLTIME_X: FLTIME_X
    - OSD4_FLTIME_Y: FLTIME_Y
    - OSD4_CLIMBEFF_EN: CLIMBEFF_EN
    - OSD4_CLIMBEFF_X: CLIMBEFF_X
    - OSD4_CLIMBEFF_Y: CLIMBEFF_Y
    - OSD4_EFF_EN: EFF_EN
    - OSD4_EFF_X: EFF_X
    - OSD4_EFF_Y: EFF_Y
    - OSD4_BTEMP_EN: BTEMP_EN
    - OSD4_BTEMP_X: BTEMP_X
    - OSD4_BTEMP_Y: BTEMP_Y
    - OSD4_ATEMP_EN: ATEMP_EN
    - OSD4_ATEMP_X: ATEMP_X
    - OSD4_ATEMP_Y: ATEMP_Y
    - OSD4_BAT2_VLT_EN: BAT2VLT_EN
    - OSD4_BAT2_VLT_X: BAT2VLT_X
    - OSD4_BAT2_VLT_Y: BAT2VLT_Y
    - OSD4_BAT2USED_EN: BAT2USED_EN
    - OSD4_BAT2USED_X: BAT2USED_X
    - OSD4_BAT2USED_Y: BAT2USED_Y
    - OSD4_ASPD2_EN: ASPD2_EN
    - OSD4_ASPD2_X: ASPD2_X
    - OSD4_ASPD2_Y: ASPD2_Y
    - OSD4_ASPD1_EN: ASPD1_EN
    - OSD4_ASPD1_X: ASPD1_X
    - OSD4_ASPD1_Y: ASPD1_Y
    - OSD4_CLK_EN: CLK_EN
    - OSD4_CLK_X: CLK_X
    - OSD4_CLK_Y: CLK_Y
    - OSD4_SIDEBARS_EN: SIDEBARS_EN
    - OSD4_SIDEBARS_X: SIDEBARS_X
    - OSD4_SIDEBARS_Y: SIDEBARS_Y
    - OSD4_CRSSHAIR_EN: CRSSHAIR_EN
    - OSD4_CRSSHAIR_X: CRSSHAIR_X
    - OSD4_CRSSHAIR_Y: CRSSHAIR_Y
    - OSD4_HOMEDIST_EN: HOMEDIST_EN
    - OSD4_HOMEDIST_X: HOMEDIST_X
    - OSD4_HOMEDIST_Y: HOMEDIST_Y
    - OSD4_HOMEDIR_EN: HOMEDIR_EN
    - OSD4_HOMEDIR_X: HOMEDIR_X
    - OSD4_HOMEDIR_Y: HOMEDIR_Y
    - OSD4_POWER_EN: POWER_EN
    - OSD4_POWER_X: POWER_X
    - OSD4_POWER_Y: POWER_Y
    - OSD4_CELLVOLT_EN: CELL_VOLT_EN
    - OSD4_CELLVOLT_X: CELL_VOLT_X
    - OSD4_CELLVOLT_Y: CELL_VOLT_Y
    - OSD4_BATTBAR_EN: BATT_BAR_EN
    - OSD4_BATTBAR_X: BATT_BAR_X
    - OSD4_BATTBAR_Y: BATT_BAR_Y
    - OSD4_ARMING_EN: ARMING_EN
    - OSD4_ARMING_X: ARMING_X
    - OSD4_ARMING_Y: ARMING_Y
    - OSD4_PLUSCODE_EN: PLUSCODE_EN
    - OSD4_PLUSCODE_X: PLUSCODE_X
    - OSD4_PLUSCODE_Y: PLUSCODE_Y
    - OSD4_CALLSIGN_EN: CALLSIGN_EN
    - OSD4_CALLSIGN_X: CALLSIGN_X
    - OSD4_CALLSIGN_Y: CALLSIGN_Y
    - OSD4_CURRENT2_EN: CURRENT2_EN
    - OSD4_CURRENT2_X: CURRENT2_X
    - OSD4_CURRENT2_Y: CURRENT2_Y
    - OSD4_VTX_PWR_EN: VTX_PWR_EN
    - OSD4_VTX_PWR_X: VTX_PWR_X
    - OSD4_VTX_PWR_Y: VTX_PWR_Y
    - OSD4_TER_HGT_EN: TER_HGT_EN
    - OSD4_TER_HGT_X: TER_HGT_X
    - OSD4_TER_HGT_Y: TER_HGT_Y
    - OSD4_AVGCELLV_EN: AVGCELLV_EN
    - OSD4_AVGCELLV_X: AVGCELLV_X
    - OSD4_AVGCELLV_Y: AVGCELLV_Y
    - OSD4_RESTVOLT_EN: RESTVOLT_EN
    - OSD4_RESTVOLT_X: RESTVOLT_X
    - OSD4_RESTVOLT_Y: RESTVOLT_Y
    - OSD4_FENCE_EN: FENCE_EN
    - OSD4_FENCE_X: FENCE_X
    - OSD4_FENCE_Y: FENCE_Y
    - OSD4_RNGF_EN: RNGF_EN
    - OSD4_RNGF_X: RNGF_X
    - OSD4_RNGF_Y: RNGF_Y
    - OSD4_LINK_Q_EN: LINK_Q_EN
    - OSD4_LINK_Q_X: LINK_Q_X
    - OSD4_LINK_Q_Y: LINK_Q_Y
  - OSD5_ Parameters
    - OSD5_ENABLE: Enable screen
    - OSD5_CHAN_MIN: Transmitter switch screen minimum pwm
    - OSD5_CHAN_MAX: Transmitter switch screen maximum pwm
    - OSD5_SAVE_X: SAVE_X
    - OSD5_SAVE_Y: SAVE_Y
  - OSD5_PARAM1 Parameters
    - OSD5_PARAM1_EN: Enable
    - OSD5_PARAM1_X: X position
    - OSD5_PARAM1_Y: Y position
    - OSD5_PARAM1_KEY: Parameter key
    - OSD5_PARAM1_IDX: Parameter index
    - OSD5_PARAM1_GRP: Parameter group
    - OSD5_PARAM1_MIN: Parameter minimum
    - OSD5_PARAM1_MAX: Parameter maximum
    - OSD5_PARAM1_INCR: Parameter increment
    - OSD5_PARAM1_TYPE: Parameter type
  - OSD5_PARAM2 Parameters
    - OSD5_PARAM2_EN: Enable
    - OSD5_PARAM2_X: X position
    - OSD5_PARAM2_Y: Y position
    - OSD5_PARAM2_KEY: Parameter key
    - OSD5_PARAM2_IDX: Parameter index
    - OSD5_PARAM2_GRP: Parameter group
    - OSD5_PARAM2_MIN: Parameter minimum
    - OSD5_PARAM2_MAX: Parameter maximum
    - OSD5_PARAM2_INCR: Parameter increment
    - OSD5_PARAM2_TYPE: Parameter type
  - OSD5_PARAM3 Parameters
    - OSD5_PARAM3_EN: Enable
    - OSD5_PARAM3_X: X position
    - OSD5_PARAM3_Y: Y position
    - OSD5_PARAM3_KEY: Parameter key
    - OSD5_PARAM3_IDX: Parameter index
    - OSD5_PARAM3_GRP: Parameter group
    - OSD5_PARAM3_MIN: Parameter minimum
    - OSD5_PARAM3_MAX: Parameter maximum
    - OSD5_PARAM3_INCR: Parameter increment
    - OSD5_PARAM3_TYPE: Parameter type
  - OSD5_PARAM4 Parameters
    - OSD5_PARAM4_EN: Enable
    - OSD5_PARAM4_X: X position
    - OSD5_PARAM4_Y: Y position
    - OSD5_PARAM4_KEY: Parameter key
    - OSD5_PARAM4_IDX: Parameter index
    - OSD5_PARAM4_GRP: Parameter group
    - OSD5_PARAM4_MIN: Parameter minimum
    - OSD5_PARAM4_MAX: Parameter maximum
    - OSD5_PARAM4_INCR: Parameter increment
    - OSD5_PARAM4_TYPE: Parameter type
  - OSD5_PARAM5 Parameters
    - OSD5_PARAM5_EN: Enable
    - OSD5_PARAM5_X: X position
    - OSD5_PARAM5_Y: Y position
    - OSD5_PARAM5_KEY: Parameter key
    - OSD5_PARAM5_IDX: Parameter index
    - OSD5_PARAM5_GRP: Parameter group
    - OSD5_PARAM5_MIN: Parameter minimum
    - OSD5_PARAM5_MAX: Parameter maximum
    - OSD5_PARAM5_INCR: Parameter increment
    - OSD5_PARAM5_TYPE: Parameter type
  - OSD5_PARAM6 Parameters
    - OSD5_PARAM6_EN: Enable
    - OSD5_PARAM6_X: X position
    - OSD5_PARAM6_Y: Y position
    - OSD5_PARAM6_KEY: Parameter key
    - OSD5_PARAM6_IDX: Parameter index
    - OSD5_PARAM6_GRP: Parameter group
    - OSD5_PARAM6_MIN: Parameter minimum
    - OSD5_PARAM6_MAX: Parameter maximum
    - OSD5_PARAM6_INCR: Parameter increment
    - OSD5_PARAM6_TYPE: Parameter type
  - OSD5_PARAM7 Parameters
    - OSD5_PARAM7_EN: Enable
    - OSD5_PARAM7_X: X position
    - OSD5_PARAM7_Y: Y position
    - OSD5_PARAM7_KEY: Parameter key
    - OSD5_PARAM7_IDX: Parameter index
    - OSD5_PARAM7_GRP: Parameter group
    - OSD5_PARAM7_MIN: Parameter minimum
    - OSD5_PARAM7_MAX: Parameter maximum
    - OSD5_PARAM7_INCR: Parameter increment
    - OSD5_PARAM7_TYPE: Parameter type
  - OSD5_PARAM8 Parameters
    - OSD5_PARAM8_EN: Enable
    - OSD5_PARAM8_X: X position
    - OSD5_PARAM8_Y: Y position
    - OSD5_PARAM8_KEY: Parameter key
    - OSD5_PARAM8_IDX: Parameter index
    - OSD5_PARAM8_GRP: Parameter group
    - OSD5_PARAM8_MIN: Parameter minimum
    - OSD5_PARAM8_MAX: Parameter maximum
    - OSD5_PARAM8_INCR: Parameter increment
    - OSD5_PARAM8_TYPE: Parameter type
  - OSD5_PARAM9 Parameters
    - OSD5_PARAM9_EN: Enable
    - OSD5_PARAM9_X: X position
    - OSD5_PARAM9_Y: Y position
    - OSD5_PARAM9_KEY: Parameter key
    - OSD5_PARAM9_IDX: Parameter index
    - OSD5_PARAM9_GRP: Parameter group
    - OSD5_PARAM9_MIN: Parameter minimum
    - OSD5_PARAM9_MAX: Parameter maximum
    - OSD5_PARAM9_INCR: Parameter increment
    - OSD5_PARAM9_TYPE: Parameter type
  - OSD6_ Parameters
    - OSD6_ENABLE: Enable screen
    - OSD6_CHAN_MIN: Transmitter switch screen minimum pwm
    - OSD6_CHAN_MAX: Transmitter switch screen maximum pwm
    - OSD6_SAVE_X: SAVE_X
    - OSD6_SAVE_Y: SAVE_Y
  - OSD6_PARAM1 Parameters
    - OSD6_PARAM1_EN: Enable
    - OSD6_PARAM1_X: X position
    - OSD6_PARAM1_Y: Y position
    - OSD6_PARAM1_KEY: Parameter key
    - OSD6_PARAM1_IDX: Parameter index
    - OSD6_PARAM1_GRP: Parameter group
    - OSD6_PARAM1_MIN: Parameter minimum
    - OSD6_PARAM1_MAX: Parameter maximum
    - OSD6_PARAM1_INCR: Parameter increment
    - OSD6_PARAM1_TYPE: Parameter type
  - OSD6_PARAM2 Parameters
    - OSD6_PARAM2_EN: Enable
    - OSD6_PARAM2_X: X position
    - OSD6_PARAM2_Y: Y position
    - OSD6_PARAM2_KEY: Parameter key
    - OSD6_PARAM2_IDX: Parameter index
    - OSD6_PARAM2_GRP: Parameter group
    - OSD6_PARAM2_MIN: Parameter minimum
    - OSD6_PARAM2_MAX: Parameter maximum
    - OSD6_PARAM2_INCR: Parameter increment
    - OSD6_PARAM2_TYPE: Parameter type
  - OSD6_PARAM3 Parameters
    - OSD6_PARAM3_EN: Enable
    - OSD6_PARAM3_X: X position
    - OSD6_PARAM3_Y: Y position
    - OSD6_PARAM3_KEY: Parameter key
    - OSD6_PARAM3_IDX: Parameter index
    - OSD6_PARAM3_GRP: Parameter group
    - OSD6_PARAM3_MIN: Parameter minimum
    - OSD6_PARAM3_MAX: Parameter maximum
    - OSD6_PARAM3_INCR: Parameter increment
    - OSD6_PARAM3_TYPE: Parameter type
  - OSD6_PARAM4 Parameters
    - OSD6_PARAM4_EN: Enable
    - OSD6_PARAM4_X: X position
    - OSD6_PARAM4_Y: Y position
    - OSD6_PARAM4_KEY: Parameter key
    - OSD6_PARAM4_IDX: Parameter index
    - OSD6_PARAM4_GRP: Parameter group
    - OSD6_PARAM4_MIN: Parameter minimum
    - OSD6_PARAM4_MAX: Parameter maximum
    - OSD6_PARAM4_INCR: Parameter increment
    - OSD6_PARAM4_TYPE: Parameter type
  - OSD6_PARAM5 Parameters
    - OSD6_PARAM5_EN: Enable
    - OSD6_PARAM5_X: X position
    - OSD6_PARAM5_Y: Y position
    - OSD6_PARAM5_KEY: Parameter key
    - OSD6_PARAM5_IDX: Parameter index
    - OSD6_PARAM5_GRP: Parameter group
    - OSD6_PARAM5_MIN: Parameter minimum
    - OSD6_PARAM5_MAX: Parameter maximum
    - OSD6_PARAM5_INCR: Parameter increment
    - OSD6_PARAM5_TYPE: Parameter type
  - OSD6_PARAM6 Parameters
    - OSD6_PARAM6_EN: Enable
    - OSD6_PARAM6_X: X position
    - OSD6_PARAM6_Y: Y position
    - OSD6_PARAM6_KEY: Parameter key
    - OSD6_PARAM6_IDX: Parameter index
    - OSD6_PARAM6_GRP: Parameter group
    - OSD6_PARAM6_MIN: Parameter minimum
    - OSD6_PARAM6_MAX: Parameter maximum
    - OSD6_PARAM6_INCR: Parameter increment
    - OSD6_PARAM6_TYPE: Parameter type
  - OSD6_PARAM7 Parameters
    - OSD6_PARAM7_EN: Enable
    - OSD6_PARAM7_X: X position
    - OSD6_PARAM7_Y: Y position
    - OSD6_PARAM7_KEY: Parameter key
    - OSD6_PARAM7_IDX: Parameter index
    - OSD6_PARAM7_GRP: Parameter group
    - OSD6_PARAM7_MIN: Parameter minimum
    - OSD6_PARAM7_MAX: Parameter maximum
    - OSD6_PARAM7_INCR: Parameter increment
    - OSD6_PARAM7_TYPE: Parameter type
  - OSD6_PARAM8 Parameters
    - OSD6_PARAM8_EN: Enable
    - OSD6_PARAM8_X: X position
    - OSD6_PARAM8_Y: Y position
    - OSD6_PARAM8_KEY: Parameter key
    - OSD6_PARAM8_IDX: Parameter index
    - OSD6_PARAM8_GRP: Parameter group
    - OSD6_PARAM8_MIN: Parameter minimum
    - OSD6_PARAM8_MAX: Parameter maximum
    - OSD6_PARAM8_INCR: Parameter increment
    - OSD6_PARAM8_TYPE: Parameter type
  - OSD6_PARAM9 Parameters
    - OSD6_PARAM9_EN: Enable
    - OSD6_PARAM9_X: X position
    - OSD6_PARAM9_Y: Y position
    - OSD6_PARAM9_KEY: Parameter key
    - OSD6_PARAM9_IDX: Parameter index
    - OSD6_PARAM9_GRP: Parameter group
    - OSD6_PARAM9_MIN: Parameter minimum
    - OSD6_PARAM9_MAX: Parameter maximum
    - OSD6_PARAM9_INCR: Parameter increment
    - OSD6_PARAM9_TYPE: Parameter type
  - PTCH Parameters
    - PTCH2SRV_TCONST: Pitch Time Constant
    - PTCH2SRV_RMAX_UP: Pitch up max rate
    - PTCH2SRV_RMAX_DN: Pitch down max rate
    - PTCH2SRV_RLL: Roll compensation
    - PTCH_RATE_P: Pitch axis rate controller P gain
    - PTCH_RATE_I: Pitch axis rate controller I gain
    - PTCH_RATE_IMAX: Pitch axis rate controller I gain maximum
    - PTCH_RATE_D: Pitch axis rate controller D gain
    - PTCH_RATE_FF: Pitch axis rate controller feed forward
    - PTCH_RATE_FLTT: Pitch axis rate controller target frequency in Hz
    - PTCH_RATE_FLTE: Pitch axis rate controller error frequency in Hz
    - PTCH_RATE_FLTD: Pitch axis rate controller derivative frequency in Hz
    - PTCH_RATE_SMAX: Pitch slew rate limit
  - Q_ Parameters
    - Q_ENABLE: Enable QuadPlane
    - Q_ANGLE_MAX: Angle Max
    - Q_TRANSITION_MS: Transition time
    - Q_VELZ_MAX: Pilot maximum vertical speed up
    - Q_VELZ_MAX_DN: Pilot maximum vertical speed down
    - Q_ACCEL_Z: Pilot vertical acceleration
    - Q_RC_SPEED: RC output speed in Hz
    - Q_ASSIST_SPEED: Quadplane assistance speed
    - Q_YAW_RATE_MAX: Maximum yaw rate
    - Q_LAND_SPEED: Land speed
    - Q_LAND_FINAL_ALT: Land final altitude
    - Q_TRAN_PIT_MAX: Transition max pitch
    - Q_FRAME_CLASS: Frame Class
    - Q_FRAME_TYPE: Frame Type (+, X or V)
    - Q_VFWD_GAIN: Forward velocity hold gain
    - Q_WVANE_GAIN: Weathervaning gain
    - Q_WVANE_MINROLL: Weathervaning min roll
    - Q_RTL_ALT: QRTL return altitude
    - Q_RTL_MODE: VTOL RTL mode
    - Q_GUIDED_MODE: Enable VTOL in GUIDED mode
    - Q_ESC_CAL: ESC Calibration
    - Q_VFWD_ALT: Forward velocity alt cutoff
    - Q_LAND_ICE_CUT: Cut IC engine on landing
    - Q_ASSIST_ANGLE: Quadplane assistance angle
    - Q_MAV_TYPE: MAVLink type identifier
    - Q_OPTIONS: quadplane options
    - Q_TRANS_DECEL: Transition deceleration
    - Q_TRIM_PITCH: Quadplane AHRS trim pitch
    - Q_FW_LND_APR_RAD: Quadplane fixed wing landing approach radius
    - Q_TRANS_FAIL: Quadplane transition failure time
    - Q_THROTTLE_EXPO: Throttle expo strength
    - Q_ACRO_RLL_RATE: QACRO mode roll rate
    - Q_ACRO_PIT_RATE: QACRO mode pitch rate
    - Q_ACRO_YAW_RATE: QACRO mode yaw rate
    - Q_TKOFF_FAIL_SCL: Takeoff time failure scalar
    - Q_TKOFF_ARSP_LIM: Takeoff airspeed limit
    - Q_ASSIST_ALT: Quadplane assistance altitude
    - Q_ASSIST_DELAY: Quadplane assistance delay
    - Q_FWD_MANTHR_MAX: VTOL manual forward throttle max percent
  - Q_AUTOTUNE_ Parameters
    - Q_AUTOTUNE_AXES: Autotune axis bitmask
    - Q_AUTOTUNE_AGGR: Autotune aggressiveness
    - Q_AUTOTUNE_MIN_D: AutoTune minimum D
  - Q_A_ Parameters
    - Q_A_SLEW_YAW: Yaw target slew rate
    - Q_A_ACCEL_Y_MAX: Acceleration Max for Yaw
    - Q_A_RATE_FF_ENAB: Rate Feedforward Enable
    - Q_A_ACCEL_R_MAX: Acceleration Max for Roll
    - Q_A_ACCEL_P_MAX: Acceleration Max for Pitch
    - Q_A_ANGLE_BOOST: Angle Boost
    - Q_A_ANG_RLL_P: Roll axis angle controller P gain
    - Q_A_ANG_PIT_P: Pitch axis angle controller P gain
    - Q_A_ANG_YAW_P: Yaw axis angle controller P gain
    - Q_A_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant
    - Q_A_RATE_R_MAX: Angular Velocity Max for Roll
    - Q_A_RATE_P_MAX: Angular Velocity Max for Pitch
    - Q_A_RATE_Y_MAX: Angular Velocity Max for Yaw
    - Q_A_INPUT_TC: Attitude control input time constant
    - Q_A_RAT_RLL_P: Roll axis rate controller P gain
    - Q_A_RAT_RLL_I: Roll axis rate controller I gain
    - Q_A_RAT_RLL_IMAX: Roll axis rate controller I gain maximum
    - Q_A_RAT_RLL_D: Roll axis rate controller D gain
    - Q_A_RAT_RLL_FF: Roll axis rate controller feed forward
    - Q_A_RAT_RLL_FLTT: Roll axis rate controller target frequency in Hz
    - Q_A_RAT_RLL_FLTE: Roll axis rate controller error frequency in Hz
    - Q_A_RAT_RLL_FLTD: Roll axis rate controller derivative frequency in Hz
    - Q_A_RAT_RLL_SMAX: Roll slew rate limit
    - Q_A_RAT_PIT_P: Pitch axis rate controller P gain
    - Q_A_RAT_PIT_I: Pitch axis rate controller I gain
    - Q_A_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum
    - Q_A_RAT_PIT_D: Pitch axis rate controller D gain
    - Q_A_RAT_PIT_FF: Pitch axis rate controller feed forward
    - Q_A_RAT_PIT_FLTT: Pitch axis rate controller target frequency in Hz
    - Q_A_RAT_PIT_FLTE: Pitch axis rate controller error frequency in Hz
    - Q_A_RAT_PIT_FLTD: Pitch axis rate controller derivative frequency in Hz
    - Q_A_RAT_PIT_SMAX: Pitch slew rate limit
    - Q_A_RAT_YAW_P: Yaw axis rate controller P gain
    - Q_A_RAT_YAW_I: Yaw axis rate controller I gain
    - Q_A_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum
    - Q_A_RAT_YAW_D: Yaw axis rate controller D gain
    - Q_A_RAT_YAW_FF: Yaw axis rate controller feed forward
    - Q_A_RAT_YAW_FLTT: Yaw axis rate controller target frequency in Hz
    - Q_A_RAT_YAW_FLTE: Yaw axis rate controller error frequency in Hz
    - Q_A_RAT_YAW_FLTD: Yaw axis rate controller derivative frequency in Hz
    - Q_A_RAT_YAW_SMAX: Yaw slew rate limit
    - Q_A_THR_MIX_MIN: Throttle Mix Minimum
    - Q_A_THR_MIX_MAX: Throttle Mix Maximum
    - Q_A_THR_MIX_MAN: Throttle Mix Manual
  - Q_LOIT_ Parameters
    - Q_LOIT_ANG_MAX: Loiter pilot angle max
    - Q_LOIT_SPEED: Loiter Horizontal Maximum Speed
    - Q_LOIT_ACC_MAX: Loiter maximum correction acceleration
    - Q_LOIT_BRK_ACCEL: Loiter braking acceleration
    - Q_LOIT_BRK_JERK: Loiter braking jerk
    - Q_LOIT_BRK_DELAY: Loiter brake start delay (in seconds)
  - Q_M_ Parameters
    - Q_M_YAW_HEADROOM: Matrix Yaw Min
    - Q_M_THST_EXPO: Thrust Curve Expo
    - Q_M_SPIN_MAX: Motor Spin maximum
    - Q_M_BAT_VOLT_MAX: Battery voltage compensation maximum voltage
    - Q_M_BAT_VOLT_MIN: Battery voltage compensation minimum voltage
    - Q_M_BAT_CURR_MAX: Motor Current Max
    - Q_M_PWM_TYPE: Output PWM type
    - Q_M_PWM_MIN: PWM output minimum
    - Q_M_PWM_MAX: PWM output maximum
    - Q_M_SPIN_MIN: Motor Spin minimum
    - Q_M_SPIN_ARM: Motor Spin armed
    - Q_M_BAT_CURR_TC: Motor Current Max Time Constant
    - Q_M_THST_HOVER: Thrust Hover Value
    - Q_M_HOVER_LEARN: Hover Value Learning
    - Q_M_SAFE_DISARM: Motor PWM output disabled when disarmed
    - Q_M_YAW_SV_ANGLE: Yaw Servo Max Lean Angle
    - Q_M_SPOOL_TIME: Spool up time
    - Q_M_BOOST_SCALE: Motor boost scale
    - Q_M_BAT_IDX: Battery compensation index
    - Q_M_SLEW_UP_TIME: Output slew time for increasing throttle
    - Q_M_SLEW_DN_TIME: Output slew time for decreasing throttle
    - Q_M_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed.
  - Q_P Parameters
    - Q_P_ACC_XY_FILT: XY Acceleration filter cutoff frequency
    - Q_P_POSZ_P: Position (vertical) controller P gain
    - Q_P_VELZ_P: Velocity (vertical) controller P gain
    - Q_P_VELZ_I: Velocity (vertical) controller I gain
    - Q_P_VELZ_IMAX: Velocity (vertical) controller I gain maximum
    - Q_P_VELZ_D: Velocity (vertical) controller D gain
    - Q_P_VELZ_FF: Velocity (vertical) controller Feed Forward gain
    - Q_P_VELZ_FLTE: Velocity (vertical) error filter
    - Q_P_VELZ_FLTD: Velocity (vertical) input filter for D term
    - Q_P_ACCZ_P: Acceleration (vertical) controller P gain
    - Q_P_ACCZ_I: Acceleration (vertical) controller I gain
    - Q_P_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum
    - Q_P_ACCZ_D: Acceleration (vertical) controller D gain
    - Q_P_ACCZ_FF: Acceleration (vertical) controller feed forward
    - Q_P_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz
    - Q_P_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz
    - Q_P_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz
    - Q_P_ACCZ_SMAX: Accel (vertical) slew rate limit
    - Q_P_POSXY_P: Position (horizontal) controller P gain
    - Q_P_VELXY_P: Velocity (horizontal) P gain
    - Q_P_VELXY_I: Velocity (horizontal) I gain
    - Q_P_VELXY_D: Velocity (horizontal) D gain
    - Q_P_VELXY_IMAX: Velocity (horizontal) integrator maximum
    - Q_P_VELXY_FLTE: Velocity (horizontal) input filter
    - Q_P_VELXY_FLTD: Velocity (horizontal) input filter
    - Q_P_VELXY_FF: Velocity (horizontal) feed forward gain
    - Q_P_ANGLE_MAX: Position Control Angle Max
    - Q_P_JERK_XY: Jerk limit for the horizontal kinematic input shaping
    - Q_P_JERK_Z: Jerk limit for the vertical kinematic input shaping
  - Q_TAILSIT_ Parameters
    - Q_TAILSIT_ENABLE: Enable Tailsitter
    - Q_TAILSIT_ANGLE: Tailsitter fixed wing transition angle
    - Q_TAILSIT_ANG_VT: Tailsitter VTOL transition angle
    - Q_TAILSIT_INPUT: Tailsitter input type bitmask
    - Q_TAILSIT_VFGAIN: Tailsitter vector thrust gain in forward flight
    - Q_TAILSIT_VHGAIN: Tailsitter vector thrust gain in hover
    - Q_TAILSIT_VHPOW: Tailsitter vector thrust gain power
    - Q_TAILSIT_GSCMAX: Maximum tailsitter gain scaling
    - Q_TAILSIT_RLL_MX: Maximum Roll angle
    - Q_TAILSIT_MOTMX: Tailsitter motor mask
    - Q_TAILSIT_GSCMSK: Tailsitter gain scaling mask
    - Q_TAILSIT_GSCMIN: Minimum tailsitter gain scaling
    - Q_TAILSIT_DSKLD: Tailsitter disk loading
    - Q_TAILSIT_RAT_FW: Tailsitter VTOL to forward flight transition rate
    - Q_TAILSIT_RAT_VT: Tailsitter forward flight to VTOL transition rate
    - Q_TAILSIT_THR_VT: Tailsitter forward flight to VTOL transition throttle
  - Q_TILT_ Parameters
    - Q_TILT_ENABLE: Enable Tiltrotor functionality
    - Q_TILT_MASK: Tiltrotor mask
    - Q_TILT_RATE_UP: Tiltrotor upwards tilt rate
    - Q_TILT_MAX: Tiltrotor maximum VTOL angle
    - Q_TILT_TYPE: Tiltrotor type
    - Q_TILT_RATE_DN: Tiltrotor downwards tilt rate
    - Q_TILT_YAW_ANGLE: Tilt minimum angle for vectored yaw
    - Q_TILT_FIX_ANGLE: Fixed wing tiltrotor angle
    - Q_TILT_FIX_GAIN: Fixed wing tiltrotor gain
  - Q_WP_ Parameters
    - Q_WP_SPEED: Waypoint Horizontal Speed Target
    - Q_WP_RADIUS: Waypoint Radius
    - Q_WP_SPEED_UP: Waypoint Climb Speed Target
    - Q_WP_SPEED_DN: Waypoint Descent Speed Target
    - Q_WP_ACCEL: Waypoint Acceleration
    - Q_WP_ACCEL_Z: Waypoint Vertical Acceleration
    - Q_WP_RFND_USE: Waypoint missions use rangefinder for terrain following
    - Q_WP_JERK: Waypoint Jerk
    - Q_WP_TER_MARGIN: Waypoint Terrain following altitude margin
  - RALLY_ Parameters
    - RALLY_TOTAL: Rally Total
    - RALLY_LIMIT_KM: Rally Limit
    - RALLY_INCL_HOME: Rally Include Home
  - RC Parameters
    - RC_OVERRIDE_TIME: RC override timeout
    - RC_OPTIONS: RC options
    - RC_PROTOCOLS: RC protocols enabled
  - RC10_ Parameters
    - RC10_MIN: RC min PWM
    - RC10_TRIM: RC trim PWM
    - RC10_MAX: RC max PWM
    - RC10_REVERSED: RC reversed
    - RC10_DZ: RC dead-zone
    - RC10_OPTION: RC input option
  - RC11_ Parameters
    - RC11_MIN: RC min PWM
    - RC11_TRIM: RC trim PWM
    - RC11_MAX: RC max PWM
    - RC11_REVERSED: RC reversed
    - RC11_DZ: RC dead-zone
    - RC11_OPTION: RC input option
  - RC12_ Parameters
    - RC12_MIN: RC min PWM
    - RC12_TRIM: RC trim PWM
    - RC12_MAX: RC max PWM
    - RC12_REVERSED: RC reversed
    - RC12_DZ: RC dead-zone
    - RC12_OPTION: RC input option
  - RC13_ Parameters
    - RC13_MIN: RC min PWM
    - RC13_TRIM: RC trim PWM
    - RC13_MAX: RC max PWM
    - RC13_REVERSED: RC reversed
    - RC13_DZ: RC dead-zone
    - RC13_OPTION: RC input option
  - RC14_ Parameters
    - RC14_MIN: RC min PWM
    - RC14_TRIM: RC trim PWM
    - RC14_MAX: RC max PWM
    - RC14_REVERSED: RC reversed
    - RC14_DZ: RC dead-zone
    - RC14_OPTION: RC input option
  - RC15_ Parameters
    - RC15_MIN: RC min PWM
    - RC15_TRIM: RC trim PWM
    - RC15_MAX: RC max PWM
    - RC15_REVERSED: RC reversed
    - RC15_DZ: RC dead-zone
    - RC15_OPTION: RC input option
  - RC16_ Parameters
    - RC16_MIN: RC min PWM
    - RC16_TRIM: RC trim PWM
    - RC16_MAX: RC max PWM
    - RC16_REVERSED: RC reversed
    - RC16_DZ: RC dead-zone
    - RC16_OPTION: RC input option
  - RC1_ Parameters
    - RC1_MIN: RC min PWM
    - RC1_TRIM: RC trim PWM
    - RC1_MAX: RC max PWM
    - RC1_REVERSED: RC reversed
    - RC1_DZ: RC dead-zone
    - RC1_OPTION: RC input option
  - RC2_ Parameters
    - RC2_MIN: RC min PWM
    - RC2_TRIM: RC trim PWM
    - RC2_MAX: RC max PWM
    - RC2_REVERSED: RC reversed
    - RC2_DZ: RC dead-zone
    - RC2_OPTION: RC input option
  - RC3_ Parameters
    - RC3_MIN: RC min PWM
    - RC3_TRIM: RC trim PWM
    - RC3_MAX: RC max PWM
    - RC3_REVERSED: RC reversed
    - RC3_DZ: RC dead-zone
    - RC3_OPTION: RC input option
  - RC4_ Parameters
    - RC4_MIN: RC min PWM
    - RC4_TRIM: RC trim PWM
    - RC4_MAX: RC max PWM
    - RC4_REVERSED: RC reversed
    - RC4_DZ: RC dead-zone
    - RC4_OPTION: RC input option
  - RC5_ Parameters
    - RC5_MIN: RC min PWM
    - RC5_TRIM: RC trim PWM
    - RC5_MAX: RC max PWM
    - RC5_REVERSED: RC reversed
    - RC5_DZ: RC dead-zone
    - RC5_OPTION: RC input option
  - RC6_ Parameters
    - RC6_MIN: RC min PWM
    - RC6_TRIM: RC trim PWM
    - RC6_MAX: RC max PWM
    - RC6_REVERSED: RC reversed
    - RC6_DZ: RC dead-zone
    - RC6_OPTION: RC input option
  - RC7_ Parameters
    - RC7_MIN: RC min PWM
    - RC7_TRIM: RC trim PWM
    - RC7_MAX: RC max PWM
    - RC7_REVERSED: RC reversed
    - RC7_DZ: RC dead-zone
    - RC7_OPTION: RC input option
  - RC8_ Parameters
    - RC8_MIN: RC min PWM
    - RC8_TRIM: RC trim PWM
    - RC8_MAX: RC max PWM
    - RC8_REVERSED: RC reversed
    - RC8_DZ: RC dead-zone
    - RC8_OPTION: RC input option
  - RC9_ Parameters
    - RC9_MIN: RC min PWM
    - RC9_TRIM: RC trim PWM
    - RC9_MAX: RC max PWM
    - RC9_REVERSED: RC reversed
    - RC9_DZ: RC dead-zone
    - RC9_OPTION: RC input option
  - RCMAP_ Parameters
    - RCMAP_ROLL: Roll channel
    - RCMAP_PITCH: Pitch channel
    - RCMAP_THROTTLE: Throttle channel
    - RCMAP_YAW: Yaw channel
  - RELAY_ Parameters
    - RELAY_PIN: First Relay Pin
    - RELAY_PIN2: Second Relay Pin
    - RELAY_PIN3: Third Relay Pin
    - RELAY_PIN4: Fourth Relay Pin
    - RELAY_DEFAULT: Default relay state
    - RELAY_PIN5: Fifth Relay Pin
    - RELAY_PIN6: Sixth Relay Pin
  - RLL Parameters
    - RLL2SRV_TCONST: Roll Time Constant
    - RLL2SRV_RMAX: Maximum Roll Rate
    - RLL_RATE_P: Roll axis rate controller P gain
    - RLL_RATE_I: Roll axis rate controller I gain
    - RLL_RATE_IMAX: Roll axis rate controller I gain maximum
    - RLL_RATE_D: Roll axis rate controller D gain
    - RLL_RATE_FF: Roll axis rate controller feed forward
    - RLL_RATE_FLTT: Roll axis rate controller target frequency in Hz
    - RLL_RATE_FLTE: Roll axis rate controller error frequency in Hz
    - RLL_RATE_FLTD: Roll axis rate controller derivative frequency in Hz
    - RLL_RATE_SMAX: Roll slew rate limit
  - RNGFND1_ Parameters
    - RNGFND1_TYPE: Rangefinder type
    - RNGFND1_PIN: Rangefinder pin
    - RNGFND1_SCALING: Rangefinder scaling
    - RNGFND1_OFFSET: rangefinder offset
    - RNGFND1_FUNCTION: Rangefinder function
    - RNGFND1_MIN_CM: Rangefinder minimum distance
    - RNGFND1_MAX_CM: Rangefinder maximum distance
    - RNGFND1_STOP_PIN: Rangefinder stop pin
    - RNGFND1_RMETRIC: Ratiometric
    - RNGFND1_PWRRNG: Powersave range
    - RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND1_ADDR: Bus address of sensor
    - RNGFND1_POS_X: X position offset
    - RNGFND1_POS_Y: Y position offset
    - RNGFND1_POS_Z: Z position offset
    - RNGFND1_ORIENT: Rangefinder orientation
    - RNGFND1_WSP_MAVG: Moving Average Range
    - RNGFND1_WSP_MEDF: Moving Median Filter
    - RNGFND1_WSP_FRQ: Frequency
    - RNGFND1_WSP_AVG: Multi-pulse averages
    - RNGFND1_WSP_THR: Sensitivity threshold
    - RNGFND1_WSP_BAUD: Baud rate
  - RNGFND2_ Parameters
    - RNGFND2_TYPE: Rangefinder type
    - RNGFND2_PIN: Rangefinder pin
    - RNGFND2_SCALING: Rangefinder scaling
    - RNGFND2_OFFSET: rangefinder offset
    - RNGFND2_FUNCTION: Rangefinder function
    - RNGFND2_MIN_CM: Rangefinder minimum distance
    - RNGFND2_MAX_CM: Rangefinder maximum distance
    - RNGFND2_STOP_PIN: Rangefinder stop pin
    - RNGFND2_RMETRIC: Ratiometric
    - RNGFND2_PWRRNG: Powersave range
    - RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND2_ADDR: Bus address of sensor
    - RNGFND2_POS_X: X position offset
    - RNGFND2_POS_Y: Y position offset
    - RNGFND2_POS_Z: Z position offset
    - RNGFND2_ORIENT: Rangefinder orientation
    - RNGFND2_WSP_MAVG: Moving Average Range
    - RNGFND2_WSP_MEDF: Moving Median Filter
    - RNGFND2_WSP_FRQ: Frequency
    - RNGFND2_WSP_AVG: Multi-pulse averages
    - RNGFND2_WSP_THR: Sensitivity threshold
    - RNGFND2_WSP_BAUD: Baud rate
  - RNGFND3_ Parameters
    - RNGFND3_TYPE: Rangefinder type
    - RNGFND3_PIN: Rangefinder pin
    - RNGFND3_SCALING: Rangefinder scaling
    - RNGFND3_OFFSET: rangefinder offset
    - RNGFND3_FUNCTION: Rangefinder function
    - RNGFND3_MIN_CM: Rangefinder minimum distance
    - RNGFND3_MAX_CM: Rangefinder maximum distance
    - RNGFND3_STOP_PIN: Rangefinder stop pin
    - RNGFND3_RMETRIC: Ratiometric
    - RNGFND3_PWRRNG: Powersave range
    - RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND3_ADDR: Bus address of sensor
    - RNGFND3_POS_X: X position offset
    - RNGFND3_POS_Y: Y position offset
    - RNGFND3_POS_Z: Z position offset
    - RNGFND3_ORIENT: Rangefinder orientation
    - RNGFND3_WSP_MAVG: Moving Average Range
    - RNGFND3_WSP_MEDF: Moving Median Filter
    - RNGFND3_WSP_FRQ: Frequency
    - RNGFND3_WSP_AVG: Multi-pulse averages
    - RNGFND3_WSP_THR: Sensitivity threshold
    - RNGFND3_WSP_BAUD: Baud rate
  - RNGFND4_ Parameters
    - RNGFND4_TYPE: Rangefinder type
    - RNGFND4_PIN: Rangefinder pin
    - RNGFND4_SCALING: Rangefinder scaling
    - RNGFND4_OFFSET: rangefinder offset
    - RNGFND4_FUNCTION: Rangefinder function
    - RNGFND4_MIN_CM: Rangefinder minimum distance
    - RNGFND4_MAX_CM: Rangefinder maximum distance
    - RNGFND4_STOP_PIN: Rangefinder stop pin
    - RNGFND4_RMETRIC: Ratiometric
    - RNGFND4_PWRRNG: Powersave range
    - RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND4_ADDR: Bus address of sensor
    - RNGFND4_POS_X: X position offset
    - RNGFND4_POS_Y: Y position offset
    - RNGFND4_POS_Z: Z position offset
    - RNGFND4_ORIENT: Rangefinder orientation
    - RNGFND4_WSP_MAVG: Moving Average Range
    - RNGFND4_WSP_MEDF: Moving Median Filter
    - RNGFND4_WSP_FRQ: Frequency
    - RNGFND4_WSP_AVG: Multi-pulse averages
    - RNGFND4_WSP_THR: Sensitivity threshold
    - RNGFND4_WSP_BAUD: Baud rate
  - RNGFND5_ Parameters
    - RNGFND5_TYPE: Rangefinder type
    - RNGFND5_PIN: Rangefinder pin
    - RNGFND5_SCALING: Rangefinder scaling
    - RNGFND5_OFFSET: rangefinder offset
    - RNGFND5_FUNCTION: Rangefinder function
    - RNGFND5_MIN_CM: Rangefinder minimum distance
    - RNGFND5_MAX_CM: Rangefinder maximum distance
    - RNGFND5_STOP_PIN: Rangefinder stop pin
    - RNGFND5_RMETRIC: Ratiometric
    - RNGFND5_PWRRNG: Powersave range
    - RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND5_ADDR: Bus address of sensor
    - RNGFND5_POS_X: X position offset
    - RNGFND5_POS_Y: Y position offset
    - RNGFND5_POS_Z: Z position offset
    - RNGFND5_ORIENT: Rangefinder orientation
    - RNGFND5_WSP_MAVG: Moving Average Range
    - RNGFND5_WSP_MEDF: Moving Median Filter
    - RNGFND5_WSP_FRQ: Frequency
    - RNGFND5_WSP_AVG: Multi-pulse averages
    - RNGFND5_WSP_THR: Sensitivity threshold
    - RNGFND5_WSP_BAUD: Baud rate
  - RNGFND6_ Parameters
    - RNGFND6_TYPE: Rangefinder type
    - RNGFND6_PIN: Rangefinder pin
    - RNGFND6_SCALING: Rangefinder scaling
    - RNGFND6_OFFSET: rangefinder offset
    - RNGFND6_FUNCTION: Rangefinder function
    - RNGFND6_MIN_CM: Rangefinder minimum distance
    - RNGFND6_MAX_CM: Rangefinder maximum distance
    - RNGFND6_STOP_PIN: Rangefinder stop pin
    - RNGFND6_RMETRIC: Ratiometric
    - RNGFND6_PWRRNG: Powersave range
    - RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND6_ADDR: Bus address of sensor
    - RNGFND6_POS_X: X position offset
    - RNGFND6_POS_Y: Y position offset
    - RNGFND6_POS_Z: Z position offset
    - RNGFND6_ORIENT: Rangefinder orientation
    - RNGFND6_WSP_MAVG: Moving Average Range
    - RNGFND6_WSP_MEDF: Moving Median Filter
    - RNGFND6_WSP_FRQ: Frequency
    - RNGFND6_WSP_AVG: Multi-pulse averages
    - RNGFND6_WSP_THR: Sensitivity threshold
    - RNGFND6_WSP_BAUD: Baud rate
  - RNGFND7_ Parameters
    - RNGFND7_TYPE: Rangefinder type
    - RNGFND7_PIN: Rangefinder pin
    - RNGFND7_SCALING: Rangefinder scaling
    - RNGFND7_OFFSET: rangefinder offset
    - RNGFND7_FUNCTION: Rangefinder function
    - RNGFND7_MIN_CM: Rangefinder minimum distance
    - RNGFND7_MAX_CM: Rangefinder maximum distance
    - RNGFND7_STOP_PIN: Rangefinder stop pin
    - RNGFND7_RMETRIC: Ratiometric
    - RNGFND7_PWRRNG: Powersave range
    - RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND7_ADDR: Bus address of sensor
    - RNGFND7_POS_X: X position offset
    - RNGFND7_POS_Y: Y position offset
    - RNGFND7_POS_Z: Z position offset
    - RNGFND7_ORIENT: Rangefinder orientation
    - RNGFND7_WSP_MAVG: Moving Average Range
    - RNGFND7_WSP_MEDF: Moving Median Filter
    - RNGFND7_WSP_FRQ: Frequency
    - RNGFND7_WSP_AVG: Multi-pulse averages
    - RNGFND7_WSP_THR: Sensitivity threshold
    - RNGFND7_WSP_BAUD: Baud rate
  - RNGFND8_ Parameters
    - RNGFND8_TYPE: Rangefinder type
    - RNGFND8_PIN: Rangefinder pin
    - RNGFND8_SCALING: Rangefinder scaling
    - RNGFND8_OFFSET: rangefinder offset
    - RNGFND8_FUNCTION: Rangefinder function
    - RNGFND8_MIN_CM: Rangefinder minimum distance
    - RNGFND8_MAX_CM: Rangefinder maximum distance
    - RNGFND8_STOP_PIN: Rangefinder stop pin
    - RNGFND8_RMETRIC: Ratiometric
    - RNGFND8_PWRRNG: Powersave range
    - RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND8_ADDR: Bus address of sensor
    - RNGFND8_POS_X: X position offset
    - RNGFND8_POS_Y: Y position offset
    - RNGFND8_POS_Z: Z position offset
    - RNGFND8_ORIENT: Rangefinder orientation
    - RNGFND8_WSP_MAVG: Moving Average Range
    - RNGFND8_WSP_MEDF: Moving Median Filter
    - RNGFND8_WSP_FRQ: Frequency
    - RNGFND8_WSP_AVG: Multi-pulse averages
    - RNGFND8_WSP_THR: Sensitivity threshold
    - RNGFND8_WSP_BAUD: Baud rate
  - RNGFND9_ Parameters
    - RNGFND9_TYPE: Rangefinder type
    - RNGFND9_PIN: Rangefinder pin
    - RNGFND9_SCALING: Rangefinder scaling
    - RNGFND9_OFFSET: rangefinder offset
    - RNGFND9_FUNCTION: Rangefinder function
    - RNGFND9_MIN_CM: Rangefinder minimum distance
    - RNGFND9_MAX_CM: Rangefinder maximum distance
    - RNGFND9_STOP_PIN: Rangefinder stop pin
    - RNGFND9_RMETRIC: Ratiometric
    - RNGFND9_PWRRNG: Powersave range
    - RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND9_ADDR: Bus address of sensor
    - RNGFND9_POS_X: X position offset
    - RNGFND9_POS_Y: Y position offset
    - RNGFND9_POS_Z: Z position offset
    - RNGFND9_ORIENT: Rangefinder orientation
    - RNGFND9_WSP_MAVG: Moving Average Range
    - RNGFND9_WSP_MEDF: Moving Median Filter
    - RNGFND9_WSP_FRQ: Frequency
    - RNGFND9_WSP_AVG: Multi-pulse averages
    - RNGFND9_WSP_THR: Sensitivity threshold
    - RNGFND9_WSP_BAUD: Baud rate
  - RNGFNDA_ Parameters
    - RNGFNDA_TYPE: Rangefinder type
    - RNGFNDA_PIN: Rangefinder pin
    - RNGFNDA_SCALING: Rangefinder scaling
    - RNGFNDA_OFFSET: rangefinder offset
    - RNGFNDA_FUNCTION: Rangefinder function
    - RNGFNDA_MIN_CM: Rangefinder minimum distance
    - RNGFNDA_MAX_CM: Rangefinder maximum distance
    - RNGFNDA_STOP_PIN: Rangefinder stop pin
    - RNGFNDA_RMETRIC: Ratiometric
    - RNGFNDA_PWRRNG: Powersave range
    - RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFNDA_ADDR: Bus address of sensor
    - RNGFNDA_POS_X: X position offset
    - RNGFNDA_POS_Y: Y position offset
    - RNGFNDA_POS_Z: Z position offset
    - RNGFNDA_ORIENT: Rangefinder orientation
    - RNGFNDA_WSP_MAVG: Moving Average Range
    - RNGFNDA_WSP_MEDF: Moving Median Filter
    - RNGFNDA_WSP_FRQ: Frequency
    - RNGFNDA_WSP_AVG: Multi-pulse averages
    - RNGFNDA_WSP_THR: Sensitivity threshold
    - RNGFNDA_WSP_BAUD: Baud rate
  - RPM1_ Parameters
    - RPM1_TYPE: RPM type
    - RPM1_SCALING: RPM scaling
    - RPM1_MAX: Maximum RPM
    - RPM1_MIN: Minimum RPM
    - RPM1_MIN_QUAL: Minimum Quality
    - RPM1_PIN: Input pin number
    - RPM1_ESC_MASK: Bitmask of ESC telemetry channels to average
  - RPM2_ Parameters
    - RPM2_TYPE: RPM type
    - RPM2_SCALING: RPM scaling
    - RPM2_MAX: Maximum RPM
    - RPM2_MIN: Minimum RPM
    - RPM2_MIN_QUAL: Minimum Quality
    - RPM2_PIN: Input pin number
    - RPM2_ESC_MASK: Bitmask of ESC telemetry channels to average
  - RSSI_ Parameters
    - RSSI_TYPE: RSSI Type
    - RSSI_ANA_PIN: Receiver RSSI sensing pin
    - RSSI_PIN_LOW: RSSI pin’s lowest voltage
    - RSSI_PIN_HIGH: RSSI pin’s highest voltage
    - RSSI_CHANNEL: Receiver RSSI channel number
    - RSSI_CHAN_LOW: RSSI PWM low value
    - RSSI_CHAN_HIGH: Receiver RSSI PWM high value
  - SCHED_ Parameters
    - SCHED_DEBUG: Scheduler debug level
    - SCHED_LOOP_RATE: Scheduling main loop rate
    - SCHED_OPTIONS: Scheduling options
  - SCR_ Parameters
    - SCR_ENABLE: Enable Scripting
    - SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count
    - SCR_HEAP_SIZE: Scripting Heap Size
    - SCR_DEBUG_LVL: Scripting Debug Level
    - SCR_USER1: Scripting User Parameter1
    - SCR_USER2: Scripting User Parameter2
    - SCR_USER3: Scripting User Parameter3
    - SCR_USER4: Scripting User Parameter4
    - SCR_DIR_DISABLE: Directory disable
  - SERIAL Parameters
    - SERIAL0_BAUD: Serial0 baud rate
    - SERIAL0_PROTOCOL: Console protocol selection
    - SERIAL1_PROTOCOL: Telem1 protocol selection
    - SERIAL1_BAUD: Telem1 Baud Rate
    - SERIAL2_PROTOCOL: Telemetry 2 protocol selection
    - SERIAL2_BAUD: Telemetry 2 Baud Rate
    - SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection
    - SERIAL3_BAUD: Serial 3 (GPS) Baud Rate
    - SERIAL4_PROTOCOL: Serial4 protocol selection
    - SERIAL4_BAUD: Serial 4 Baud Rate
    - SERIAL5_PROTOCOL: Serial5 protocol selection
    - SERIAL5_BAUD: Serial 5 Baud Rate
    - SERIAL6_PROTOCOL: Serial6 protocol selection
    - SERIAL6_BAUD: Serial 6 Baud Rate
    - SERIAL1_OPTIONS: Telem1 options
    - SERIAL2_OPTIONS: Telem2 options
    - SERIAL3_OPTIONS: Serial3 options
    - SERIAL4_OPTIONS: Serial4 options
    - SERIAL5_OPTIONS: Serial5 options
    - SERIAL6_OPTIONS: Serial6 options
    - SERIAL_PASS1: Serial passthru first port
    - SERIAL_PASS2: Serial passthru second port
    - SERIAL_PASSTIMO: Serial passthru timeout
    - SERIAL7_PROTOCOL: Serial7 protocol selection
    - SERIAL7_BAUD: Serial 7 Baud Rate
    - SERIAL7_OPTIONS: Serial7 options
    - SERIAL8_PROTOCOL: Serial8 protocol selection
    - SERIAL8_BAUD: Serial 8 Baud Rate
    - SERIAL8_OPTIONS: Serial8 options
  - SERVO Parameters
    - SERVO_AUTO_TRIM: Automatic servo trim
    - SERVO_RATE: Servo default output rate
    - SERVO_DSHOT_RATE: Servo DShot output rate
    - SERVO_DSHOT_ESC: Servo DShot ESC type
    - SERVO_GPIO_MASK: Servo GPIO mask
  - SERVO10_ Parameters
    - SERVO10_MIN: Minimum PWM
    - SERVO10_MAX: Maximum PWM
    - SERVO10_TRIM: Trim PWM
    - SERVO10_REVERSED: Servo reverse
    - SERVO10_FUNCTION: Servo output function
  - SERVO11_ Parameters
    - SERVO11_MIN: Minimum PWM
    - SERVO11_MAX: Maximum PWM
    - SERVO11_TRIM: Trim PWM
    - SERVO11_REVERSED: Servo reverse
    - SERVO11_FUNCTION: Servo output function
  - SERVO12_ Parameters
    - SERVO12_MIN: Minimum PWM
    - SERVO12_MAX: Maximum PWM
    - SERVO12_TRIM: Trim PWM
    - SERVO12_REVERSED: Servo reverse
    - SERVO12_FUNCTION: Servo output function
  - SERVO13_ Parameters
    - SERVO13_MIN: Minimum PWM
    - SERVO13_MAX: Maximum PWM
    - SERVO13_TRIM: Trim PWM
    - SERVO13_REVERSED: Servo reverse
    - SERVO13_FUNCTION: Servo output function
  - SERVO14_ Parameters
    - SERVO14_MIN: Minimum PWM
    - SERVO14_MAX: Maximum PWM
    - SERVO14_TRIM: Trim PWM
    - SERVO14_REVERSED: Servo reverse
    - SERVO14_FUNCTION: Servo output function
  - SERVO15_ Parameters
    - SERVO15_MIN: Minimum PWM
    - SERVO15_MAX: Maximum PWM
    - SERVO15_TRIM: Trim PWM
    - SERVO15_REVERSED: Servo reverse
    - SERVO15_FUNCTION: Servo output function
  - SERVO16_ Parameters
    - SERVO16_MIN: Minimum PWM
    - SERVO16_MAX: Maximum PWM
    - SERVO16_TRIM: Trim PWM
    - SERVO16_REVERSED: Servo reverse
    - SERVO16_FUNCTION: Servo output function
  - SERVO1_ Parameters
    - SERVO1_MIN: Minimum PWM
    - SERVO1_MAX: Maximum PWM
    - SERVO1_TRIM: Trim PWM
    - SERVO1_REVERSED: Servo reverse
    - SERVO1_FUNCTION: Servo output function
  - SERVO2_ Parameters
    - SERVO2_MIN: Minimum PWM
    - SERVO2_MAX: Maximum PWM
    - SERVO2_TRIM: Trim PWM
    - SERVO2_REVERSED: Servo reverse
    - SERVO2_FUNCTION: Servo output function
  - SERVO3_ Parameters
    - SERVO3_MIN: Minimum PWM
    - SERVO3_MAX: Maximum PWM
    - SERVO3_TRIM: Trim PWM
    - SERVO3_REVERSED: Servo reverse
    - SERVO3_FUNCTION: Servo output function
  - SERVO4_ Parameters
    - SERVO4_MIN: Minimum PWM
    - SERVO4_MAX: Maximum PWM
    - SERVO4_TRIM: Trim PWM
    - SERVO4_REVERSED: Servo reverse
    - SERVO4_FUNCTION: Servo output function
  - SERVO5_ Parameters
    - SERVO5_MIN: Minimum PWM
    - SERVO5_MAX: Maximum PWM
    - SERVO5_TRIM: Trim PWM
    - SERVO5_REVERSED: Servo reverse
    - SERVO5_FUNCTION: Servo output function
  - SERVO6_ Parameters
    - SERVO6_MIN: Minimum PWM
    - SERVO6_MAX: Maximum PWM
    - SERVO6_TRIM: Trim PWM
    - SERVO6_REVERSED: Servo reverse
    - SERVO6_FUNCTION: Servo output function
  - SERVO7_ Parameters
    - SERVO7_MIN: Minimum PWM
    - SERVO7_MAX: Maximum PWM
    - SERVO7_TRIM: Trim PWM
    - SERVO7_REVERSED: Servo reverse
    - SERVO7_FUNCTION: Servo output function
  - SERVO8_ Parameters
    - SERVO8_MIN: Minimum PWM
    - SERVO8_MAX: Maximum PWM
    - SERVO8_TRIM: Trim PWM
    - SERVO8_REVERSED: Servo reverse
    - SERVO8_FUNCTION: Servo output function
  - SERVO9_ Parameters
    - SERVO9_MIN: Minimum PWM
    - SERVO9_MAX: Maximum PWM
    - SERVO9_TRIM: Trim PWM
    - SERVO9_REVERSED: Servo reverse
    - SERVO9_FUNCTION: Servo output function
  - SERVO_BLH_ Parameters
    - SERVO_BLH_MASK: BLHeli Channel Bitmask
    - SERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors
    - SERVO_BLH_TEST: BLHeli internal interface test
    - SERVO_BLH_TMOUT: BLHeli protocol timeout
    - SERVO_BLH_TRATE: BLHeli telemetry rate
    - SERVO_BLH_DEBUG: BLHeli debug level
    - SERVO_BLH_OTYPE: BLHeli output type override
    - SERVO_BLH_PORT: Control port
    - SERVO_BLH_POLES: BLHeli Motor Poles
    - SERVO_BLH_3DMASK: BLHeli bitmask of 3D channels
    - SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels
    - SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels
  - SERVO_FTW_ Parameters
    - SERVO_FTW_MASK: Servo channel output bitmask
    - SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask
    - SERVO_FTW_POLES: Nr. electrical poles
  - SERVO_ROB_ Parameters
    - SERVO_ROB_POSMIN: Robotis servo position min
    - SERVO_ROB_POSMAX: Robotis servo position max
  - SERVO_SBUS_ Parameters
    - SERVO_SBUS_RATE: SBUS default output rate
  - SERVO_VOLZ_ Parameters
    - SERVO_VOLZ_MASK: Channel Bitmask
  - SOAR_ Parameters
    - SOAR_ENABLE: Is the soaring mode enabled or not
    - SOAR_VSPEED: Vertical v-speed
    - SOAR_Q1: Process noise
    - SOAR_Q2: Process noise
    - SOAR_R: Measurement noise
    - SOAR_DIST_AHEAD: Distance to thermal center
    - SOAR_MIN_THML_S: Minimum thermalling time
    - SOAR_MIN_CRSE_S: Minimum cruising time
    - SOAR_POLAR_CD0: Zero lift drag coef.
    - SOAR_POLAR_B: Induced drag coeffient
    - SOAR_POLAR_K: Cl factor
    - SOAR_ALT_MAX: Maximum soaring altitude, relative to the home location
    - SOAR_ALT_MIN: Minimum soaring altitude, relative to the home location
    - SOAR_ALT_CUTOFF: Maximum power altitude, relative to the home location
    - SOAR_MAX_DRIFT: (Optional) Maximum drift distance to allow when thermalling.
    - SOAR_MAX_RADIUS: (Optional) Maximum distance from home
    - SOAR_THML_BANK: Thermalling bank angle
  - SR0_ Parameters
    - SR0_RAW_SENS: Raw sensor stream rate
    - SR0_EXT_STAT: Extended status stream rate to ground station
    - SR0_RC_CHAN: RC Channel stream rate to ground station
    - SR0_RAW_CTRL: Raw Control stream rate to ground station
    - SR0_POSITION: Position stream rate to ground station
    - SR0_EXTRA1: Extra data type 1 stream rate to ground station
    - SR0_EXTRA2: Extra data type 2 stream rate to ground station
    - SR0_EXTRA3: Extra data type 3 stream rate to ground station
    - SR0_PARAMS: Parameter stream rate to ground station
    - SR0_ADSB: ADSB stream rate to ground station
  - SR1_ Parameters
    - SR1_RAW_SENS: Raw sensor stream rate
    - SR1_EXT_STAT: Extended status stream rate to ground station
    - SR1_RC_CHAN: RC Channel stream rate to ground station
    - SR1_RAW_CTRL: Raw Control stream rate to ground station
    - SR1_POSITION: Position stream rate to ground station
    - SR1_EXTRA1: Extra data type 1 stream rate to ground station
    - SR1_EXTRA2: Extra data type 2 stream rate to ground station
    - SR1_EXTRA3: Extra data type 3 stream rate to ground station
    - SR1_PARAMS: Parameter stream rate to ground station
    - SR1_ADSB: ADSB stream rate to ground station
  - SR2_ Parameters
    - SR2_RAW_SENS: Raw sensor stream rate
    - SR2_EXT_STAT: Extended status stream rate to ground station
    - SR2_RC_CHAN: RC Channel stream rate to ground station
    - SR2_RAW_CTRL: Raw Control stream rate to ground station
    - SR2_POSITION: Position stream rate to ground station
    - SR2_EXTRA1: Extra data type 1 stream rate to ground station
    - SR2_EXTRA2: Extra data type 2 stream rate to ground station
    - SR2_EXTRA3: Extra data type 3 stream rate to ground station
    - SR2_PARAMS: Parameter stream rate to ground station
    - SR2_ADSB: ADSB stream rate to ground station
  - SR3_ Parameters
    - SR3_RAW_SENS: Raw sensor stream rate
    - SR3_EXT_STAT: Extended status stream rate to ground station
    - SR3_RC_CHAN: RC Channel stream rate to ground station
    - SR3_RAW_CTRL: Raw Control stream rate to ground station
    - SR3_POSITION: Position stream rate to ground station
    - SR3_EXTRA1: Extra data type 1 stream rate to ground station
    - SR3_EXTRA2: Extra data type 2 stream rate to ground station
    - SR3_EXTRA3: Extra data type 3 stream rate to ground station
    - SR3_PARAMS: Parameter stream rate to ground station
    - SR3_ADSB: ADSB stream rate to ground station
  - SR4_ Parameters
    - SR4_RAW_SENS: Raw sensor stream rate
    - SR4_EXT_STAT: Extended status stream rate to ground station
    - SR4_RC_CHAN: RC Channel stream rate to ground station
    - SR4_RAW_CTRL: Raw Control stream rate to ground station
    - SR4_POSITION: Position stream rate to ground station
    - SR4_EXTRA1: Extra data type 1 stream rate to ground station
    - SR4_EXTRA2: Extra data type 2 stream rate to ground station
    - SR4_EXTRA3: Extra data type 3 stream rate to ground station
    - SR4_PARAMS: Parameter stream rate to ground station
    - SR4_ADSB: ADSB stream rate to ground station
  - SR5_ Parameters
    - SR5_RAW_SENS: Raw sensor stream rate
    - SR5_EXT_STAT: Extended status stream rate to ground station
    - SR5_RC_CHAN: RC Channel stream rate to ground station
    - SR5_RAW_CTRL: Raw Control stream rate to ground station
    - SR5_POSITION: Position stream rate to ground station
    - SR5_EXTRA1: Extra data type 1 stream rate to ground station
    - SR5_EXTRA2: Extra data type 2 stream rate to ground station
    - SR5_EXTRA3: Extra data type 3 stream rate to ground station
    - SR5_PARAMS: Parameter stream rate to ground station
    - SR5_ADSB: ADSB stream rate to ground station
  - SR6_ Parameters
    - SR6_RAW_SENS: Raw sensor stream rate
    - SR6_EXT_STAT: Extended status stream rate to ground station
    - SR6_RC_CHAN: RC Channel stream rate to ground station
    - SR6_RAW_CTRL: Raw Control stream rate to ground station
    - SR6_POSITION: Position stream rate to ground station
    - SR6_EXTRA1: Extra data type 1 stream rate to ground station
    - SR6_EXTRA2: Extra data type 2 stream rate to ground station
    - SR6_EXTRA3: Extra data type 3 stream rate to ground station
    - SR6_PARAMS: Parameter stream rate to ground station
    - SR6_ADSB: ADSB stream rate to ground station
  - STAT Parameters
    - STAT_BOOTCNT: Boot Count
    - STAT_FLTTIME: Total FlightTime
    - STAT_RUNTIME: Total RunTime
    - STAT_RESET: Statistics Reset Time
  - STEER2SRV_ Parameters
    - STEER2SRV_TCONST: Steering Time Constant
    - STEER2SRV_P: Steering turning gain
    - STEER2SRV_I: Integrator Gain
    - STEER2SRV_D: Damping Gain
    - STEER2SRV_IMAX: Integrator limit
    - STEER2SRV_MINSPD: Minimum speed
    - STEER2SRV_FF: Steering feed forward
    - STEER2SRV_DRTSPD: Derating speed
    - STEER2SRV_DRTFCT: Derating factor
    - STEER2SRV_DRTMIN: Minimum angle of wheel
  - TECS_ Parameters
    - TECS_CLMB_MAX: Maximum Climb Rate (metres/sec)
    - TECS_SINK_MIN: Minimum Sink Rate (metres/sec)
    - TECS_TIME_CONST: Controller time constant (sec)
    - TECS_THR_DAMP: Controller throttle damping
    - TECS_INTEG_GAIN: Controller integrator
    - TECS_VERT_ACC: Vertical Acceleration Limit (metres/sec^2)
    - TECS_HGT_OMEGA: Height complementary filter frequency (radians/sec)
    - TECS_SPD_OMEGA: Speed complementary filter frequency (radians/sec)
    - TECS_RLL2THR: Bank angle compensation gain
    - TECS_SPDWEIGHT: Weighting applied to speed control
    - TECS_PTCH_DAMP: Controller pitch damping
    - TECS_SINK_MAX: Maximum Descent Rate (metres/sec)
    - TECS_LAND_ARSPD: Airspeed during landing approach (m/s)
    - TECS_LAND_THR: Cruise throttle during landing approach (percentage)
    - TECS_LAND_SPDWGT: Weighting applied to speed control during landing.
    - TECS_PITCH_MAX: Maximum pitch in auto flight
    - TECS_PITCH_MIN: Minimum pitch in auto flight
    - TECS_LAND_SINK: Sink rate for final landing stage
    - TECS_LAND_TCONST: Land controller time constant (sec)
    - TECS_LAND_DAMP: Controller sink rate to pitch gain during flare
    - TECS_LAND_PMAX: Maximum pitch during final stage of landing
    - TECS_APPR_SMAX: Sink rate max for landing approach stage
    - TECS_LAND_SRC: Land sink rate change
    - TECS_LAND_TDAMP: Controller throttle damping when landing
    - TECS_LAND_IGAIN: Controller integrator during landing
    - TECS_TKOFF_IGAIN: Controller integrator during takeoff
    - TECS_LAND_PDAMP: Pitch damping gain when landing
    - TECS_SYNAIRSPEED: Enable the use of synthetic airspeed
    - TECS_OPTIONS: Extra TECS options
    - TECS_PTCH_FF_V0: Baseline airspeed for pitch feed-forward.
    - TECS_PTCH_FF_K: Gain for pitch feed-forward.
  - TERRAIN_ Parameters
    - TERRAIN_ENABLE: Terrain data enable
    - TERRAIN_SPACING: Terrain grid spacing
    - TERRAIN_OPTIONS: Terrain options
    - TERRAIN_MARGIN: Acceptance margin
  - TKOFF_ Parameters
    - TKOFF_ALT: Takeoff mode altitude
    - TKOFF_LVL_ALT: Takeoff mode altitude level altitude
    - TKOFF_LVL_PITCH: Takeoff mode altitude initial pitch
    - TKOFF_DIST: Takeoff mode distance
  - TUNE_ Parameters
    - TUNE_PARAM: Transmitter tuning parameter or set of parameters
    - TUNE_CHAN: Transmitter tuning channel
    - TUNE_CHAN_MIN: Transmitter tuning channel minimum pwm
    - TUNE_CHAN_MAX: Transmitter tuning channel maximum pwm
    - TUNE_SELECTOR: Transmitter tuning selector channel
    - TUNE_RANGE: Transmitter tuning range
    - TUNE_MODE_REVERT: Revert on mode change
    - TUNE_ERR_THRESH: Controller error threshold
  - VISO Parameters
    - VISO_TYPE: Visual odometry camera connection type
    - VISO_POS_X: Visual odometry camera X position offset
    - VISO_POS_Y: Visual odometry camera Y position offset
    - VISO_POS_Z: Visual odometry camera Z position offset
    - VISO_ORIENT: Visual odometery camera orientation
    - VISO_SCALE: Visual odometry scaling factor
    - VISO_DELAY_MS: Visual odometry sensor delay
    - VISO_VEL_M_NSE: Visual odometry velocity measurement noise
    - VISO_POS_M_NSE: Visual odometry position measurement noise
    - VISO_YAW_M_NSE: Visual odometry yaw measurement noise
  - VTX_ Parameters
    - VTX_ENABLE: Is the Video Transmitter enabled or not
    - VTX_POWER: Video Transmitter Power Level
    - VTX_CHANNEL: Video Transmitter Channel
    - VTX_BAND: Video Transmitter Band
    - VTX_FREQ: Video Transmitter Frequency
    - VTX_OPTIONS: Video Transmitter Options
    - VTX_MAX_POWER: Video Transmitter Max Power Level
  - YAW2SRV_ Parameters
    - YAW2SRV_SLIP: Sideslip control gain
    - YAW2SRV_INT: Sideslip control integrator
    - YAW2SRV_DAMP: Yaw damping
    - YAW2SRV_RLL: Yaw coordination gain
    - YAW2SRV_IMAX: Integrator limit
- Parameter Reset
  - Option #1: Using the Mission Planner
  - Option #2: Change the FORMAT_VERSION parameter
  - Option #3: Load another vehicle’s firmware
  - Restoring Calibrations after Resets
    - Using Mission Planner
    - Using MAVProxy
- RC Input Channel Mapping (RCMAP)
  - Configuration
- RC Options
- Reverse Thrust Setup
  - Setup
    - Reverse Thrust: Pilot Controlled
    - Reverse Thrust: AutoPilot Controlled
- RunCam Camera Configuration and Control
  - Description
  - Setup
  - OSD Menu Control
  - OSD Menu and OSD Interaction
- Sensor Position Offset Compensation
  - Parameter Details
- Sensor Testing
  - Checking the main sensors
  - Display Sensor Data on Graph
- Serial Port to Port Passthrough
  - Setup
  - Video
- Serial Port Configuration
  - Logical Serial Port to Physical UART Assignment
  - SERIALx_PROTOCOL
  - SERIALx_OPTIONS Parameter
    - Bitmask Options
- Telemetry Port Setup
  - Overview
  - Set-up through the Ground Station
  - MAVLink1, MAVLink2 and Stream Rates
- Terrain Following
  - How it works
  - Terrain Following Flight Modes
  - Uses of Terrain Following
  - Sources of Terrain Data
  - Terrain Spacing
  - Terrain Accuracy
  - Setting up for terrain following
  - Terrain Look-ahead
- Transmitter Based Tuning
  - Overview
  - Concepts
  - Setting up for tuning
  - Using the tuning knob
    - Activating the tuning knob
    - Re-centering the tuning knob
  - Tuning multiple parameters
  - Saving the tuning results
  - Reverting the tune
  - The tuning process
    - Setting up
- UAVCAN Setup
  - Overview
  - UAVCAN Peripheral Types Supported
  - UAVCAN Adapter Node
  - UAVCAN ESC and Servo Configuration settings
  - GPS configuration settings
  - UAVCAN LED configuration
  - UAVCAN Rangefinder configuration
  - SLCAN
- Video Transmitter Support
- How to setup video transmitter support
  - SmartAudio
  - CRSF (Crossfire)
  - Video transmitter settings
  - Setting video transmitter settings
- UBlox GPS Configuration
  - Connection Option #1 - Mission Planner and Pixhawk as Passthrough
  - Connection Option #2 - FTDI cable
- Vibration Damping
  - 3M, Du-Bro or HobbyKing Foam
  - Gel pads
  - 3D Printed Anti-Vibration Platform
  - 3D Printed Anti-Vibration Platform for NAVIO2
  - O-ring Suspension Mount
  - Ear Plug Mount
  - Bulb Damper + Ear Plug Vibration Mount
QuadPlane Support
- Overview
  - Types and Configurations
  - Installing the Firmware
- Building a QuadPlane
- First Time Setup
- First Flight
- Weathervaning
  - Active Weathervaning
  - Using the Forward Motor
- QuadPlane AUTO Missions
- Guided Mode
- Simulation
- Hints and Tips
Mission Planning
- Planning a Mission with Waypoints and Events
- Mission Command List
- Camera Control in Auto Missions
- Rally Points
- Geotagging Images with Mission Planner
- Terrain Following
- Rewind-on-resume
Logs
- Topics related to logging and analysis
- Tools for log analysis
Peripheral Hardware
- ADS-B Receiver
  - Required Hardware
  - Connecting to the autopilot
  - Setup through the ground station
  - ADSB-out configuration
  - Enabling Manned Vehicle Avoidance
  - Vehicle Database
  - Developer information including Simulation
- Airspeed Sensor
  - ARSPD_USE
  - Airspeed Sensor Type
  - Autopilot Airspeed Connection
  - Installing the Pitot Tubes
  - Checking operation
  - Calibration
  - Miscalibration Safeguards
  - Failure
  - Airspeed sensors available from ArduPilot Partners:
    - I2C
    - UAVCAN
  - Other Topics
- Barometer (external)
  - Where to Buy
  - Connecting and Configuring
  - Testing
- Button Inputs
  - Setup
- Buzzer
  - Using an active buzzer instead of a passive buzzer
  - Mounting the buzzer
  - Silencing the buzzer
- Cameras & Gimbals
  - Gimbals
  - Cameras with MAVLink interfaces
  - Camera Control and GeoTagging
  - Detail topics
- Companion Computers
  - Overview
- Display (Onboard)
  - Where to Buy
    - SSD1306
    - SSH1106
  - Connecting to a Autopilot
- ESCs and Motors
  - PWM,OneShot, and DShot ESC
  - BLHeli/BLHeli32 Capable ESCs
  - ICE (Internal Combustion Engines)
  - KDE CAN ESCs
  - Toshiba CAN ESCs
  - UAVCAN ESCs
  - Velocity ESCs
- Drive Calculator Motor/Propeller Analyzer
  - Entering the information
  - Results
- First Person View Video
  - Recommended parts
  - Connection diagram
  - Minim OSD setup through mission planner
  - Integrated OSD
  - User Videos / Blogs
  - Safety Warnings Relating Specifically to FPV Flight
  - Government/Local Regulations
- Fuel Flow and Level Sensors
  - Fuel Flow Sensors
    - Connecting to the Autopilot
  - Fuel Level Sensors
    - Connecting to the Autopilot
  - Parameter Setup
- Generators
  - RichenPower generator
  - Intelligent Energy 650W/800W Hydrogen Fuel Cell
  - Intelligent Energy 2.4kW Hydrogen Fuel Cell
- GPS/Compass
  - ArduSimple RTK GPS
    - Where to Buy
    - Pin Map
    - Wiring and Connections
    - Configuration
  - Avionics Anonymous GNSS + Compass
  - Avionics Anonymous Compass
  - Beitain BN-220 GPS / BN-880 GPS + Compass Module
  - CUAV C-RTK 9P RTK Receiver
    - Key Features
    - Where to buy
    - Connect to Pixhawk
    - Connect to CUAV V5+ Or V5 nano
    - Connect to Others
    - Port and LED
    - C-RTK 9P estimated Yaw
    - More information
  - CUAV Neo v2 Pro UAVCAN GPS
    - Key Features
    - Purchase
    - Connect to CUAV v5+
    - Enable CAN port, UAVCAN, and Configure for NEO-V2 Pro
    - SLCAN Interface
    - NEO-V2 Internal Configuration
    - Upgrade Firmware
    - More information
  - CUAV Neo 3 Pro UAVCAN GPS
    - Key Features
    - Purchase
    - Connect to CUAV v5+
    - Enable CAN port, UAVCAN, and Configure for NEO-V2 Pro
    - SLCAN Interface
    - NEO-V2 Internal Configuration
    - Upgrade Firmware
    - More information
  - CUAV Neo 3（M9N) GPS
    - Key Features
    - Purchase
    - Connect to CUAV v5+
    - Pinouts
    - More information
  - Emlid Reach RTK Receiver
    - What is Reach and what is it for?
    - ArduPilot integration
    - Connecting Reach to Pixhawk
  - Hex Here+ RTK Receiver
    - Where to buy
    - Connecting the vehicle and base station GPSs
    - Installing the Drivers
    - Upgrading to U-blox 1.30 Firmware
    - Downloading U-centre UI and 1.30 Firmware
    - Connect your HERE+ Base and Rover to Computer
    - Upgrading Process
    - Check current Rover/Base firmware version
    - Basic operating manual
    - Base module setting using Mission Planner
    - Rover Module and Autopilot Setup
    - Use U-centre for live data recording/replaying
    - Use U-Centre for debugging/advanced configuration
    - Change Base Antenna and Testing
  - Hex Here 2 UAVCAN GPS/Gyro/IMU/Baro
  - Holybro Micro M8N GPS Module
  - Holybro Nano Ublox M8 5883 GPS Module
  - Holybro M8N (Pixhawk 4) GPS Module
  - Holybro M9N GPS Module
  - Holybro RTK M8P Family
    - Pin Map
    - Wiring and Connections
    - Configuration
    - GPS Accessories
    - Where to Buy
  - Holybro RTK F9P Family
    - Pin Map
    - Wiring and Connections
    - Configuration
    - GPS Accessories
    - Where to Buy
  - Matek M8Q-CAN/UAVCAN GPS+Compass+Baro+Airspeed I2C port
    - Features
    - Wiring
    - Setup
    - MSP Firmware Update
    - Where to Buy
  - mRo GPS, GPS+Compass,RTK, and UAVCAN modules
  - mRo Locaton One UAVCAN GPS/Compass
    - Features
    - Configuration
    - Where to Buy
  - Swift Navigation's Piksi Multi RTK GPS Receiver
    - What is Piksi Multi?
    - What is RTK GPS and why does multi-frequency matter?
    - ArduPilot Integration
  - Septentrio AsteRx-mUAS RTK GPS
    - Setup instructions
    - Video including setup instructions
  - Trimble BD930 RTK GPS
  - Zubax GNSS 2: GNSS + Compass + Barometer
  - Advanced Uses
    - GPS Blending (aka Dual GPS)
    - GPS for Yaw (aka Moving Baseline)
    - GPS – How it Works
    - U-Blox F9P Firmware Update Procedure
- Grippers
  - Electro Permanent Magnet v3 (EPMv3)
  - Electro Permanent Magnet v1 (EPM688)
  - Servo Gripper
- Joystick or Gamepad
  - What you will need
  - Setup with the Mission Planner
  - Testing the controls before flying
  - Testing the failsafes
  - Reducing lag in the controls
- Landing Gear/ Retractable Camera Mount
  - Connecting to the Autopilot
  - Setup through the Mission Planner
  - Other Parameters
- LEDs (external)
  - RGB LEDs/Displays with I2C Connection
  - Serially Connected Devices
    - NeoPixel
    - ProfiLED
  - NTF LED Meaning
- Multiple Radio Control Receivers
  - Configuration
  - Failsafe and Changeover
  - Inversion
- On-Screen Display (OSD)
  - Onboard OSD for FPV and simulation
  - Minim OSD
  - MSP OSD
  - OSD Parameter Editor
- Optical Flow Sensor
  - Optical Flow Setup
  - Cheerson CX-OF
  - HereFlow
  - PX4FLOW
  - OpenMV
  - UPixels UPFlow
- Power Modules
  - Power Monitor Configuration
    - Mission Planner Setup
    - Connecting power monitor to alternative pins
  - Common Power Module
  - AirbotPower Power Module
  - Mauch Power Monitor
  - Fuel Monitors
  - Can PMU
  - HV PM
    - Enabling the HV PM
  - Rotoye BatMon Smart Battery
    - Connecting to the Pixhawk
  - SmartAP Power Distribution Board
- Power Tether
  - Demonstration
  - Parts used
  - Construction
- PPM Encoder
  - Failsafe output values:
  - Setup Manual
  - Re-Programming the Atmega328p PPM encoder
  - Fuse setting for internal MCU
  - Re-Programming instructions for Windows
  - Re-Programming instructions for Mac OS X
  - Re-Programming instructions for Linux
  - Re-Compiling Options
    - Re-Compiling using Linux
  - Related information
    - PPM Encoder Programming Guide
- Radio Control Systems
  - Compatible RC Protocols
  - Connecting the Receiver
  - Radio System Selection
  - Links to Radio Control Systems
  - PPM encoders
- Rangefinders (Sonar, Lidar, Depth Cameras)
  - Rangefinder Setup Overview
    - Connecting and Configuring the Rangefinder
    - References
  - Unidirectional Rangefinders
  - Omnidirectional Proximity Rangefinders
- Received Signal Strength Indication (RSSI)
  - Setting up RSSI on your autopilot
  - Displaying the RC receiver’s RSSI value in MissionPlanner’s HUD
  - Connection examples
  - Special use cases
- Relay Switch
  - Relay pins on IOMCU equipped autopilots
  - Defining the relay pins through the Mission Planner
  - Pilot control of the relay
  - Mission control of the relay
  - Mission Planner control of the relay
- RPM Sensor
  - How the RPM Library Works (TYPE = AUXPIN)
  - Hall Effect Sensors
  - Electrical Commutation Sensors
  - Optical Sensors
  - Harmonic Notch Center Frequency
- Safety Switch
  - LED meaning
  - Configuring the Safety Switch
  - Using the Safety Switch to force I/O board firmware update
- Servos
  - Servos (PWM)
  - SBus Servos
  - Robotis Servos
  - Volz Servos
    - Where To Buy
    - Connection and Configuration
- Smart Batteries
  - Solo
  - Setup through Mission Planner
  - Additional information
  - Limitations
- Telemetry Radio
  - Short Range (<10KM)
  - Long Range
  - Applications and Info
- UAVCAN Adapter Node
  - Features
  - Firmware
    - F103 Based
    - F303 Based
  - F303-Universal Firmware Setup
    - Rangefinder
  - UAVCAN Adapter Nodes
- UAVCAN Peripherals
  - Avionics Anonymous Airspeed +Temp
  - Avionics Anonymous GNSS + Compass
  - Avionics Anonymous GNSS/Mag: GNSS + Compass
  - Avionics Anonymous LIDAR Interface
  - CUAV Neo v2 Pro UAVCAN GPS
  - jDrones UAVCAN Starter kit
  - jDrones UAVCAN General Node
  - Matek M8Q-CAN/UAVCAN GPS+Compass+Baro+Airspeed I2C port
  - Matek UAVCAN DLVR-10 Airspeed Sensor
  - mRo GPS, GPS+Compass,RTK, and UAVCAN modules
  - mRo KitCAN CAN/UAVCAN Adapter Node+Compass+Baro
    - Features
    - Pinouts
    - Typical System
    - Setup
    - Firmware
    - Where to Buy
  - mRo Location One GPS GPS+Compass+LED+Safety Switch
  - mRo UAVCAN Adapter Node
  - UAVCAN ESCs
  - Zubax GNSS 2: GNSS + Compass + Barometer
- Video (High Defintion)
  - Herelink HD Video Transmission System
    - Overview
    - Features
  - CUAV H16 series HD Video Transmission and remote control system
    - Overview
    - Features
  - DJI Digital FPV System
    - Overview
    - Features
  - DJI Ocusync Air System
    - Features
  - Sky-Drones Smartlink
    - Features
  - SIYI AK28
    - Where to buy
    - Unboxing video
  - XBLink 4G LTE Transmission System
    - Overview
    - Features
  - Other Systems
OEM Customization
- Customization Steps
Use-Cases and Applications
- Use Cases
- Vehicle Types
Antenna Tracking
- Mission Planner Antenna Tracking
- Antenna Design Overview
Simulation
User Alerts
Upcoming Features
- Multiple Screen And Display Port Support for MultiWii/DJI OSD
- MSP Telemetry Addition of Canvass Mode
  - Protocol overview
  - Configuration
- Swan K-1 Copter Tailsitter
- Other wiki changes
  - Common
  - Plane
Appendix
- Abbreviations
- Acknowledgments
- Advanced user tools (downloads)
  - Tools
  - License
  - Safety
- Commercial Support
  - How to get added to this list
- Contact Us
  - Support
  - Development
  - Facebook
  - YouTube
  - DroneKit
- Developer tools (downloads)
  - Tools
  - License
  - Safety
- Donating to ArduPilot
- Firmware (downloads)
  - Firmware
    - ArduCopter APM 2.x Firmware
    - ArduCopter APM 1.0 Firmware
  - Bootloader
  - APM2.x Autopilot
  - License
  - Safety
- Glossary
- History of ArduPilot
- Partners
- Partners Program
  - Why a Partners Program
  - How does my company become a partner?
  - What do I get for becoming an ArduPilot Partner?
  - How are collected funds spent?
  - I’m not a company, but I love your stuff, how can I help?
  - I want a new feature, do I have to be a partner to get it?
- Ready-To-Use vehicles
  - Copters from Partners
  - Helicopters from Partners
  - Planes from Partners
  - VTOL/QuadPlanes from Partners
  - Rovers from Partners
  - Subs from Partners
  - Vehicles from Non-Partners
- Stores
- Top Contributors
  - Collaboration with other projects
- Training Centers
  - Australia
    - Victorian UAS Training
  - Japan
    - Drone Japan
  - France
    - Drones Center France
  - USA
    - LeTourneau University (LETU)
  - South Korea
    - D-Makers
  - Books
- Wiki Editing Guide
  - Making a Quick Edit
  - Infrastructure Overview
  - Setting Up the Editing Environment
  - Submitting Changes
    - How to get changes approved
  - Style Guide
  - Archiving and Deleting pages
    - Deleting wiki pages
  - License
  - Translating wiki pages
  - FAQ - Why are my changes not published?
- Common Airframe Builds
  - High Quality Bixler 1.1 Build (APM2.x)
  - X-UAV MiniTalon Long Duration FPV Plane
- Release Notes
  - Current Releases
  - Older Releases
- Archived Topics
  - Loading ChibiOS firmware onto Pixhawk
    - Downloading the beta firmware
    - Uploading as Custom Firmware
    - Testing
  - NAVIO+ Overview
    - Specifications
  - APM 2.x
    - APM 2.5
    - APM 2.6
    - Using the APM 2.5/2.6 Enclosure
    - Not using the APM Enclosure
    - Powering the APM2
    - Explanation of solder jumper options on the bottom of the board
    - Analog input pins
    - Digital output pins
  - PX4FMU
    - Pixhawk (FMUv2) and PX4FMU (FMUv1)
    - The PX4FMU/PX4IO (FMUv1) Flight Management System Includes:
    - Detailed Description
    - PX4FMU Connector diagram
    - Analog and digital pins
  - PX4IO
    - The Bottom of the PX4IO Board
    - The Top of the PX4IO Board
    - A Breif Description of the PX4IO Board
    - The PX4IO Board Connector pin assignments
    - The PX4IO Board Stacks On Top of the PX4-FMU board
  - Qualcomm Snapdragon Flight Kit
    - Overview
    - Specifications
    - Connector pin assignments
    - ESC PWM Output
    - Logging
    - Record and display live video
    - Additional information
  - Open Camera Control Board
    - Overview
    - Port Mapping
    - USB Connector Types
    - Computer Wiring - Table Tests and Firmware Uploading
    - Autopilot Wiring - Aerial Photography
    - Contact Closure - Example: Canon XTi
    - MAVLink Detailed
  - VR Gimbal Controller (3-Axis Open Source)
    - Overview
    - Connecting the VRGimbal to the Pixhawk
    - Operation
    - Configuring the gimbal
    - Set-up through the mission planner
    - Updating the gimbal software
    - Common Problems
    - Other Open Source Alternatives
  - External GPS AP2.x
    - Testing
  - GPS Module (External)
    - Tips on mounting the GPS module
  - External Compass (Magnetometer)
    - Overview
    - Connecting to the APM 2.5
    - Connecting to the APM2.0
    - Setup through the Mission Planner
  - Recording and Playing Back Missions
  - AttoPilot Current/Voltage Sensor
    - Connection to Pixhawk
    - Setup in Mission Planner
    - Calibrating the voltage sensor
  - Erle-Brain2 Wiring Quick Start
    - Erle-Brain2 Wiring Chart
    - Power Erle-Brain2
    - Connect remote control inputs
    - GPS+Compass
    - Connect Motors
    - USB ports
    - Connect other peripherals
    - Related information
  - PXFmini Wiring Quick Start
    - PXFmini Wiring Chart
    - Power PXFmini
    - HDMI Connector
    - Connect remote control inputs
    - GPS+Compass
    - Connect Motors
    - USB ports
    - Connect other peripherals
    - Related information
  - Web Apps
  - Edge Quick Start
    - Connect Edge GNSS module
    - Connect video camera
    - Connect Wi-Fi modules
    - Power from a battery
    - Connect to Edge’s access point
    - Configuring QGroundControl for Edge
  - Migration from release 3.7 to 3.8
    - Change to Servo Range Parameters
    - Change to Servo Functions
    - Change to Elevon, Vtail and Flaperon Configuration
    - Tuning Changes
    - Reversal Checking
    - Airspeed Setup Changes
    - Change to THR_MAX
  - Mandatory Hardware Configuration
    - Basic System Overview
    - Accelerometer Calibration
    - Radio Control Calibration
    - RC Transmitter Flight Mode Configuration
    - Compass Calibration
    - Failsafe Function
  - Normal/Elevon/VTail Mode & Reversing Servos
  - Channel Output Functions
    - The SERVOn_FUNCTION parameters
    - Disabled
    - RCPassThru
    - Flap
    - Flap_auto
    - Aileron
    - Mount_pan, Mount_tilt and Mount_roll
    - Camera_trigger
    - Elevator
    - Rudder
    - GroundSteering
    - Flaperons
  - ADNS3080 Mouse Sensor (no longer supported)
    - Connecting the sensor to the APM2.5
    - Connecting the sensor to the APM2
    - Connecting the sensor to the APM1
    - Testing the sensor
    - Capturing an image from the sensor
    - How it works
    - Known issues
    - Acknowledgements:
Fixed Wing FAQ
- How do you stop a Nitro plane from cutting the engine in flight?
- How do you inhibit gyro calibration?
- Tuning is too difficult, how do I make it easier?
- How do I setup reverse throttle on a IC plane?
- What happens if an airspeed sensor fails in flight?
- Why don’t my surfaces move enough when using flaperons, elevons, or v-tail?
- How do I get a good flare in automatic landing?
- How do I reset all parameters to defaults?
- What does “Bad AHRS” mean on a ground station?
- How do I reduce throttle oscillation in auto flight?
- Why do I get small surface movements in ground tests?
- How would I setup crow flaps?
- Why do my servos jitter when on the ground?
- How is airspeed used with no airspeed sensor?
- Why does my trim change when I change modes?
Full Table of Contents